From 1a96ae512c99792eda6fd05ca4f514ebefc032cc Mon Sep 17 00:00:00 2001
From: "R. Kent James" <kent@caspia.com>
Date: Tue, 26 Mar 2024 21:07:19 -0700
Subject: [PATCH] Fix issues, add action support

---
 rosdoc2/verbs/build/builders/sphinx_builder.py     |  6 ++++++
 rosdoc2/verbs/build/generate_interface_docs.py     |  6 ++----
 test/packages/full_package/action/Fibonacci.action | 11 +++++++++++
 test/test_builder.py                               |  3 +++
 4 files changed, 22 insertions(+), 4 deletions(-)
 create mode 100644 test/packages/full_package/action/Fibonacci.action

diff --git a/rosdoc2/verbs/build/builders/sphinx_builder.py b/rosdoc2/verbs/build/builders/sphinx_builder.py
index 54784c2..27ec246 100644
--- a/rosdoc2/verbs/build/builders/sphinx_builder.py
+++ b/rosdoc2/verbs/build/builders/sphinx_builder.py
@@ -43,6 +43,10 @@ def generate_package_toc_entry(*, build_context, interface_counts) -> str:
     # inside the string to fall under the `:toctree:` directive
     toc_entry_cpp = '   C++ API <generated/index>\n'
     toc_entry_py = '   Python API <modules>\n'
+    toc_entry_msg = '   Message Definitions <generated/message_definitions>\n'
+    toc_entry_srv = '   Service Definitions <generated/service_definitions>\n'
+    toc_entry_action = '   Action Definitions <generated/action_definitions>\n'
+
     toc_entry = '\n'
 
     if build_type == 'ament_python' or always_run_sphinx_apidoc or ament_cmake_python:
@@ -53,6 +57,8 @@ def generate_package_toc_entry(*, build_context, interface_counts) -> str:
         toc_entry += toc_entry_msg
     if interface_counts['srv'] > 0:
         toc_entry += toc_entry_srv
+    if interface_counts['action'] > 0:
+        toc_entry += toc_entry_action
     return toc_entry
 
 
diff --git a/rosdoc2/verbs/build/generate_interface_docs.py b/rosdoc2/verbs/build/generate_interface_docs.py
index 242e263..8e1457d 100644
--- a/rosdoc2/verbs/build/generate_interface_docs.py
+++ b/rosdoc2/verbs/build/generate_interface_docs.py
@@ -13,13 +13,11 @@
 # limitations under the License.
 
 
-"""Generate rst files for messages and services."""
+"""Generate rst files for messages, services, and actions."""
 
 import fnmatch
 import os
 
-# from jinja2 import Template
-
 iface_fm_rst = """\
 {iface_name}
 {name_underline}
@@ -64,7 +62,7 @@ def generate_interface_docs(path: str, package: str, output_dir: str):
     :rtype: dict(str, int)
     """
     counts = {}
-    for type_info in (('msg', 'message'), ('srv', 'service')):
+    for type_info in (('msg', 'message'), ('srv', 'service'), ('action', 'action')):
         count = 0
         (type_ext, type_name) = type_info
         interfaces = _find_files_with_extension(path, type_ext)
diff --git a/test/packages/full_package/action/Fibonacci.action b/test/packages/full_package/action/Fibonacci.action
new file mode 100644
index 0000000..e360e9d
--- /dev/null
+++ b/test/packages/full_package/action/Fibonacci.action
@@ -0,0 +1,11 @@
+# This action is based on the action tutorial
+# https://docs.ros.org/en/rolling/Tutorials/Intermediate/Creating-an-Action.html
+
+# order of the Fibonacci sequence we want to compute
+int32 order
+---
+# the final result
+int32[] sequence
+---
+# feedback of what is completed so far
+int32[] partial_sequence
diff --git a/test/test_builder.py b/test/test_builder.py
index 060ae25..d585bb0 100644
--- a/test/test_builder.py
+++ b/test/test_builder.py
@@ -195,6 +195,9 @@ def test_full_package(session_dir):
         PKG_NAME,
         'python api',
         'c++ api',
+        'message definitions',
+        'service definitions',
+        'action definitions'
     ]
     file_includes = [
         'generated/index.html'