Function rcl_action_server_wait_set_get_entities_ready

Function Documentation

rcl_ret_t rcl_action_server_wait_set_get_entities_ready(const rcl_wait_set_t *wait_set, const rcl_action_server_t *action_server, bool *is_goal_request_ready, bool *is_cancel_request_ready, bool *is_result_request_ready, bool *is_goal_expired)

Get the wait set entities that are ready for a rcl_action_server_t.

The caller can use this function to determine the relevant action server functions to call: rcl_action_take_goal_request(), rcl_action_take_cancel_request(), or rcl_action_take_result_request().

Attribute

Adherence

Allocates Memory

No

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • wait_set – [in] struct where action server services are to be stored

  • action_server – [in] an action server to query

  • is_goal_request_ready – [out] true if there is a goal request message ready to take, false otherwise

  • is_cancel_request_ready – [out] true if there is a cancel request message ready to take, false otherwise

  • is_result_request_ready – [out] true if there is a result request message ready to take, false otherwise

  • is_goal_expired – [out] true if there is a goal that expired, false otherwise

Returns:

RCL_RET_OK if call is successful, or

Returns:

RCL_RET_WAIT_SET_INVALID if the wait set is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ACTION_CLIENT_INVALID if the action server is invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.