From 80c0db3f35c9c7ab3d48da87292134e4b4b416d1 Mon Sep 17 00:00:00 2001
From: Martin Dahl <martin.dahl@gmail.com>
Date: Thu, 19 Aug 2021 14:06:50 +0200
Subject: [PATCH] impl Send for Action client goals

---
 Cargo.toml                    | 2 +-
 src/action_clients.rs         | 2 ++
 src/action_clients_untyped.rs | 2 ++
 src/msg_types.rs              | 2 ++
 4 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/Cargo.toml b/Cargo.toml
index ec103c5..138b5ba 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,7 +1,7 @@
 
 [package]
 name = "r2r"
-version = "0.3.7"
+version = "0.3.8"
 authors = ["Martin Dahl <martin.dahl@gmail.com>"]
 description = "Minimal ros2 bindings."
 license = "Apache-2.0/MIT"
diff --git a/src/action_clients.rs b/src/action_clients.rs
index 1b88506..c59ad11 100644
--- a/src/action_clients.rs
+++ b/src/action_clients.rs
@@ -10,6 +10,8 @@ where
     client: Weak<Mutex<WrappedActionClient<T>>>,
 }
 
+unsafe impl<T> Send for ClientGoal<T> where T: WrappedActionTypeSupport {}
+
 #[derive(Clone)]
 pub struct ClientGoal<T>
 where
diff --git a/src/action_clients_untyped.rs b/src/action_clients_untyped.rs
index 753049e..da4b497 100644
--- a/src/action_clients_untyped.rs
+++ b/src/action_clients_untyped.rs
@@ -11,6 +11,8 @@ pub struct ActionClientUntyped {
     client: Weak<Mutex<WrappedActionClientUntyped>>,
 }
 
+unsafe impl Send for ClientGoalUntyped {}
+
 #[derive(Clone)]
 pub struct ClientGoalUntyped {
     client: Weak<Mutex<WrappedActionClientUntyped>>,
diff --git a/src/msg_types.rs b/src/msg_types.rs
index bcc0829..b60d9af 100644
--- a/src/msg_types.rs
+++ b/src/msg_types.rs
@@ -117,6 +117,7 @@ pub struct WrappedNativeMsgUntyped {
     ) -> std::result::Result<(), serde_json::error::Error>,
 }
 
+unsafe impl Send for UntypedServiceSupport {}
 pub struct UntypedServiceSupport {
     pub ts: &'static rosidl_service_type_support_t,
     pub make_request_msg: fn() -> WrappedNativeMsgUntyped,
@@ -140,6 +141,7 @@ impl UntypedServiceSupport {
 }
 
 // For now only the client side is implemented.
+unsafe impl Send for UntypedActionSupport {}
 pub struct UntypedActionSupport {
     pub(crate) ts: &'static rosidl_action_type_support_t,