From afa5e4a9f327e2ff00adcd25513133631624b129 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Thu, 14 Dec 2023 12:05:28 -0500
Subject: [PATCH] Remove action helper types

---
 examples/ros2_action_client.html |  4 +---
 src/core/Action.js               | 17 ++++++-----------
 src/core/ActionFeedback.js       | 23 -----------------------
 src/core/ActionGoal.js           | 23 -----------------------
 src/core/ActionResult.js         | 23 -----------------------
 src/core/index.js                |  3 ---
 6 files changed, 7 insertions(+), 86 deletions(-)
 delete mode 100644 src/core/ActionFeedback.js
 delete mode 100644 src/core/ActionGoal.js
 delete mode 100644 src/core/ActionResult.js

diff --git a/examples/ros2_action_client.html b/examples/ros2_action_client.html
index 7cc76d943..3fb67eecf 100644
--- a/examples/ros2_action_client.html
+++ b/examples/ros2_action_client.html
@@ -46,9 +46,7 @@
   });
 
   // Send an action goal
-  var goal = new ROSLIB.ActionGoal({
-    order: 5,
-  });
+  var goal = {order: 5};
 
   var goal_id = fibonacciClient.sendGoal(goal, 
   function(result) {
diff --git a/src/core/Action.js b/src/core/Action.js
index d8a2b18df..019459916 100644
--- a/src/core/Action.js
+++ b/src/core/Action.js
@@ -3,9 +3,6 @@
  * @author Sebastian Castro - sebastian.castro@picknik.ai
  */
 
-var ActionGoal = require('./ActionGoal');
-var ActionFeedback = require('./ActionFeedback');
-var ActionResult = require('./ActionResult');
 var EventEmitter2 = require('eventemitter2').EventEmitter2;
 var Ros = require('../core/Ros');
 
@@ -67,11 +64,9 @@ class Action extends EventEmitter2 {
             failedCallback(message.values);
           }
         } else if (message.op === 'action_feedback' && typeof feedbackCallback === 'function') {
-          // @ts-expect-error -- can't figure out how to get ActionFeedback to play nice in typescript here
-          feedbackCallback(new ActionFeedback(message.values));
+          feedbackCallback(message.values);
         } else if (message.op === 'action_result' && typeof resultCallback === 'function') {
-          // @ts-expect-error -- can't figure out how to get ActionResult to play nice in typescript here
-          resultCallback(new ActionResult(message.values));
+          resultCallback(message.values);
         }
       });
     }
@@ -181,14 +176,14 @@ class Action extends EventEmitter2 {
    * Helper function to send action feedback inside an action handler.
    *
    * @param {string} id - The action goal ID.
-   * @param {ActionFeedback<TFeedback>} feedback - The feedback to send.
+   * @param {TFeedback} feedback - The feedback to send.
    */
   sendFeedback(id, feedback) {
     var call = {
       op: 'action_feedback',
       id: id,
       action: this.name,
-      values: new ActionFeedback(feedback),
+      values: feedback,
     };
     this.ros.callOnConnection(call);
   }
@@ -197,14 +192,14 @@ class Action extends EventEmitter2 {
    * Helper function to set an action as succeeded.
    *
    * @param {string} id - The action goal ID.
-   * @param {ActionResult} result - The result to set.
+   * @param {TResult} result - The result to set.
    */
   setSucceeded(id, result) {
     var call = {
       op: 'action_result',
       id: id,
       action: this.name,
-      values: new ActionResult(result),
+      values: result,
       result: true,
     };
     this.ros.callOnConnection(call);
diff --git a/src/core/ActionFeedback.js b/src/core/ActionFeedback.js
deleted file mode 100644
index 055de45b0..000000000
--- a/src/core/ActionFeedback.js
+++ /dev/null
@@ -1,23 +0,0 @@
-/**
- * @fileOverview
- * @author Sebastian Castro - sebastian.castro@picknik.ai
- */
-
-var assign = require('object-assign');
-
-/**
- * An ActionFeedback is periodically returned during an in-progress ROS 2 action.
- *
- * @constructor
- * @template TFeedback
- */
-class ActionFeedback {
-  /**
-   * @param {TFeedback} [values={}] - Object matching the fields defined in the .action definition file.
-   */
-  constructor(values) {
-    assign(this, values || {});
-  }
-}
-
-module.exports = ActionFeedback;
diff --git a/src/core/ActionGoal.js b/src/core/ActionGoal.js
deleted file mode 100644
index 159f746b3..000000000
--- a/src/core/ActionGoal.js
+++ /dev/null
@@ -1,23 +0,0 @@
-/**
- * @fileoverview
- * @author Sebastian Castro - sebastian.castro@picknik.ai
- */
-
-var assign = require('object-assign');
-
-/**
- * An ActionGoal is passed into a ROS 2 action goal request.
- *
- * @constructor
- * @template TGoal
- */
-class ActionGoal {
-  /**
-   * @param {TGoal} [values={}] - Object matching the fields defined in the .action definition file.
-   */
-  constructor(values) {
-    assign(this, values || {});
-  }
-}
-
-module.exports = ActionGoal;
diff --git a/src/core/ActionResult.js b/src/core/ActionResult.js
deleted file mode 100644
index bef710481..000000000
--- a/src/core/ActionResult.js
+++ /dev/null
@@ -1,23 +0,0 @@
-/**
- * @fileoverview
- * @author Sebastian Castro - sebastian.castro@picknik.ai
- */
-
-var assign = require('object-assign');
-
-/**
- * An ActionResult is returned from sending a ROS 2 action goal.
- *
- * @constructor
- * @template TResult
- */
-class ActionResult {
-  /**
-   * @param {TResult} [values={}] - Object matching the fields defined in the .action definition file.
-   */
-  constructor(values) {
-    assign(this, values || {});
-  }
-}
-
-module.exports = ActionResult;
diff --git a/src/core/index.js b/src/core/index.js
index 2f2f0b58b..046655fa6 100644
--- a/src/core/index.js
+++ b/src/core/index.js
@@ -7,7 +7,4 @@ module.exports = {
   ServiceRequest: require('./ServiceRequest'),
   ServiceResponse: require('./ServiceResponse'),
   Action: require('./Action'),
-  ActionGoal: require('./ActionGoal'),
-  ActionFeedback: require('./ActionFeedback'),
-  ActionResult: require('./ActionResult')
 };