Template Class SmaccActionClientBase

Defined in File smacc_action_client_base.hpp

Inheritance Relationships

Base Type

public smacc2::client_bases::ISmaccActionClient (Class ISmaccActionClient)

Class Documentation

template<typename ActionType> class SmaccActionClientBase : public smacc2::client_bases::ISmaccActionClient 

Public Types

typedef rclcpp_action::Client<ActionType> ActionClient

using Goal = typename ActionClient::Goal

using Feedback = typename ActionClient::Feedback

using GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

typedef GoalHandle::WrappedResult WrappedResult

using SendGoalOptions = typename ActionClient::SendGoalOptions

using GoalResponseCallback = std::function<void(std::shared_future<typename GoalHandle::SharedPtr>)>

using FeedbackCallback = typename GoalHandle::FeedbackCallback

using ResultCallback = typename GoalHandle::ResultCallback

using CancelRequest = typename ActionType::Impl::CancelGoalService::Request

using CancelResponse = typename ActionType::Impl::CancelGoalService::Response

using CancelCallback = std::function<void(typename CancelResponse::SharedPtr)>

typedef smacc2::SmaccSignal<void(const WrappedResult&)> SmaccActionResultSignal

Public Functions

inline SmaccActionClientBase(std::string actionServerName)

inline SmaccActionClientBase()

inline virtual ~SmaccActionClientBase()

inline virtual std::shared_ptr<rclcpp_action::ClientBase> getClientBase() override

inline virtual void onInitialize() override

inline void waitForServer()

template<typename EvType> inline void postResultEvent(WrappedResult&)

template<typename TOrthogonal, typename TSourceObject> inline void onOrthogonalAllocation()

template<typename T> inline boost::signals2::connection onSucceeded(void (T::* callback)(WrappedResult&), T *object)

template<typename T> inline boost::signals2::connection onSucceeded(std::function<void(WrappedResult&)> callback)

template<typename T> inline boost::signals2::connection onAborted(void (T::* callback)(WrappedResult&), T *object)

template<typename T> inline boost::signals2::connection onAborted(std::function<void(WrappedResult&)> callback)

template<typename T> inline boost::signals2::connection onCancelled(void (T::* callback)(WrappedResult&), T *object)

template<typename T> inline boost::signals2::connection onCancelled(std::function<void(WrappedResult&)> callback)

inline virtual bool cancelGoal() override

inline std::shared_future<typename GoalHandle::SharedPtr> sendGoal(Goal &goal, typename SmaccActionResultSignal::WeakPtr resultCallback = typename SmaccActionResultSignal::WeakPtr())

Public Members

std::string action_endpoint_

std::optional<std::shared_future<typename GoalHandle::SharedPtr>> lastRequest_

std::optional<std::shared_future<typename CancelResponse::SharedPtr>> lastCancelResponse_

SmaccActionResultSignal onSucceeded_

SmaccActionResultSignal onAborted_

SmaccActionResultSignal onCancelled_

std::function<void(WrappedResult)> postSuccessEvent

std::function<void(WrappedResult)> postAbortedEvent

std::function<void(WrappedResult)> postCancelledEvent

std::function<void(const Feedback&)> postFeedbackEvent

FeedbackCallback feedback_cb

Public Static Functions

static inline std::string getEventLabel()

Protected Functions

inline void onFeedback(typename GoalHandle::SharedPtr, const std::shared_ptr<const Feedback> feedback_msg)

inline void onResult(const WrappedResult &result_msg)

Protected Attributes

ActionClient::SharedPtr client_