Function rcl_action_goal_handle_get_goal_terminal_timestamp

Function Documentation

rcl_ret_t rcl_action_goal_handle_get_goal_terminal_timestamp(const rcl_action_goal_handle_t *goal_handle, rcl_time_point_value_t *timestamp)

Get the goal terminal timestamp.

This is a non-blocking call.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • goal_handle – [in] struct containing the goal and metadata

  • timestamp – [out] a preallocated struct where goal terminal timestamp is copied.

Returns:

RCL_RET_OK if the goal ID was accessed successfully, or

Returns:

RCL_RET_ACTION_GOAL_HANDLE_INVALID if the goal handle is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if the timestamp argument is invalid or

Returns:

RCL_ACTION_RET_NOT_TERMINATED_YET if the goal has not reached terminal state