Feature: Async/await API for action clients - #15

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iv461 wants to merge 31 commits into

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feature/actions

Commits on Jan 28, 2026

Added info about kilted support
Ivo Ivanov
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6edad82
Typo
Ivo Ivanov
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f19c89c

Commits on Feb 5, 2026

Started adding actions support, let codex do it roughtly first
Ivo Ivanov
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aa5a585
Added examples and reformat
Ivo Ivanov
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b139a70
Added calling upstream server to demonstrate async action server
Ivo Ivanov
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1d07907
Refactored the creation and deferred cleanup of one-off timers needed for timeout detection
Ivo Ivanov
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ec113ec
polish
Ivo Ivanov
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af9e52a
Addind ai-sloppy session based API for actions
Ivo Ivanov
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f587c25
Fix pimpl, still garbage, will do it myself
Ivo Ivanov
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cc181df
Cleaned up the AI slop and implemented an async await actions API, up to the async await support for feedback: the feedback has to remain a callback, because otherwise we would need to buffer feedb…
Ivo Ivanov
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4394e6d
Compiling ..
Ivo Ivanov
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50cb243
Compiling ..
Ivo Ivanov
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774d355
Still compiling
Ivo Ivanov
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3211b6f
Compiling
Ivo Ivanov
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8464c03
Compiles
Ivo Ivanov
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c2ca03c
Updated example
Ivo Ivanov
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24d5bdb
Documenting actions
Ivo Ivanov
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823a91b
Cleanup, reverted unrelated entities_test change that causes the tests to fail
Ivo Ivanov
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b7d6da5
Trying to work around a gcc 11 bug
Ivo Ivanov
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ddf28eb

Commits on Feb 6, 2026

Fixing bugs
Ivo Ivanov
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44348c1
segfault
Ivo Ivanov
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fc50c54
Fixed segfault
Ivo Ivanov
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ebb6738
Ok, so essentially this async_get_result api is unusable, because there it throws an exception if the action is already done.
Ivo Ivanov
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402da66
Had to implement getting the result using the options.result_callback, because the async_goal_result API does not make sense. For this, we move the result promise inside the goalhandle, this leads …
Ivo Ivanov
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daca2a1
Fixed calling empty std::function bug because the promise assumed it always launches an asynchronous operation, which in the case of actions API does not hold anymore
Ivo Ivanov
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96404b0
Fixed some more timeout timer cancellations that I had forgotten, now the first action test passes
Ivo Ivanov
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db9135b
Updated action examples
Ivo Ivanov
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318187e
Examples work
Ivo Ivanov
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950c89b
Fixing compilation for humble
Ivo Ivanov
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94e30a7
removed fmax err to see more errors
Ivo Ivanov
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ee356ef
Fix for humble
Ivo Ivanov
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385a636