Program Listing for File action_goal_handle.h
↰ Return to documentation for file (include/rclc/action_goal_handle.h
)
// Copyright (c) 2021 - for information on the respective copyright owner
// see the NOTICE file and/or the repository https://github.com/ros2/rclc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLC__ACTION_GOAL_HANDLE_H_
#define RCLC__ACTION_GOAL_HANDLE_H_
#if __cplusplus
extern "C"
{
#endif
#include <rcl_action/rcl_action.h>
struct rclc_generic_entity_t;
struct rclc_action_client_t;
typedef struct rclc_action_goal_handle_t
{
struct rclc_action_goal_handle_t * next;
union {
struct rclc_action_server_t * action_server;
struct rclc_action_client_t * action_client;
};
rcl_action_goal_state_t status;
unique_identifier_msgs__msg__UUID goal_id;
struct Generic_SendGoal_Request * ros_goal_request;
bool available_goal_response;
bool goal_accepted;
bool available_feedback;
bool available_result_response;
bool available_cancel_response;
bool goal_cancelled;
// Goal requests header
union {
rmw_request_id_t goal_request_header;
int64_t goal_request_sequence_number;
};
union {
rmw_request_id_t result_request_header;
int64_t result_request_sequence_number;
};
union {
rmw_request_id_t cancel_request_header;
int64_t cancel_request_sequence_number;
};
} rclc_action_goal_handle_t;
#define DECLARE_GOAL_HANDLE_POOL \
rclc_action_goal_handle_t * goal_handles_memory; \
size_t goal_handles_memory_size; \
rclc_action_goal_handle_t * free_goal_handles; \
rclc_action_goal_handle_t * used_goal_handles;
#if __cplusplus
}
#endif
#endif // RCLC__ACTION_GOAL_HANDLE_H_