Parameterize goal request and response interfaces on action type

Signed-off-by: Jacob Perron <[email protected]>

Author: jacobperron

rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalRequestDefinition.java

@@ -17,7 +17,7 @@
 
 import java.util.List;
 
-public interface GoalRequestDefinition extends MessageDefinition {
+public interface GoalRequestDefinition<T extends ActionDefinition> extends MessageDefinition {
   MessageDefinition getGoal();
   List<Byte> getGoalUuid();
 }

rcljava_common/src/main/java/org/ros2/rcljava/interfaces/GoalResponseDefinition.java

@@ -15,7 +15,7 @@
 
 package org.ros2.rcljava.interfaces;
 
-public interface GoalResponseDefinition extends MessageDefinition {
+public interface GoalResponseDefinition<T extends ActionDefinition> extends MessageDefinition {
   void accept(boolean accepted);
   void setStamp(int sec, int nanosec);
 }

rosidl_generator_java/resource/action.java.em

@@ -80,13 +80,13 @@ import @(action_import);
 
 public class @(type_name) implements ActionDefinition {
 
-  public static class SendGoalRequest extends @(type_name)_SendGoal_Request implements GoalRequestDefinition {
+  public static class SendGoalRequest extends @(type_name)_SendGoal_Request implements GoalRequestDefinition<@(type_name)> {
     public List<Byte> getGoalUuid() {
       return super.getGoalId().getUuid();
     }
   }
 
-  public static class SendGoalResponse extends @(type_name)_SendGoal_Response implements GoalResponseDefinition {
+  public static class SendGoalResponse extends @(type_name)_SendGoal_Response implements GoalResponseDefinition<@(type_name)> {
     public void accept(boolean accepted) {
       super.setAccepted(accepted);
     }