Function rcl_action_take_status

• Defined in File action_client.h

Function Documentation

rcl_ret_t rcl_action_take_status(const rcl_action_client_t *action_client, void *ros_status_array)

Take a ROS status message using a rcl_action_client_t.

The caller is responsible for ensuring that the type of ros_status_array and the type associate with the client (via the type support) match. Passing a different type produces undefined behavior and cannot be checked by this function and therefore no deliberate error will occur.

Todo:

TODO(jacobperron) blocking of take?

Todo:

TODO(jacobperron) pre-, during-, and post-conditions for message ownership?

Todo:

TODO(jacobperron) is this thread-safe?

The caller is responsible for allocating the ros_status_array struct with a zero-initialization (the internal array should not be allocated). If there is a successful take, then ros_status_array is populated with the allocator given in the action client options. It is the callers responsibility to deallocate the ros_status_array struct using the allocator given in the action client options.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• action_client – [in] handle to the client that will take status message

• ros_status_array – [out] pointer to ROS aciton_msgs/StatusArray message that will be populated with information about goals that have accepted the cancel request.

Returns:

RCL_RET_OK if the response was taken successfully, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ACTION_CLIENT_INVALID if the action client is invalid, or

Returns:

RCL_RET_BAD_ALLOC if allocating memory failed, or

Returns:

RCL_RET_ACTION_CLIENT_TAKE_FAILED if take failed but no error occurred in the middleware, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.