Program Listing for File action_server.h

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// Copyright (c) 2021 - for information on the respective copyright owner
// see the NOTICE file and/or the repository https://github.com/ros2/rclc.
// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// 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_SERVER_H_
#define RCLC__ACTION_SERVER_H_

#if __cplusplus
extern "C"
{
#endif

#include <rclc/visibility_control.h>

#include <rcl_action/rcl_action.h>
#include <rcl/allocator.h>

#include <rclc/types.h>
#include <rclc/action_goal_handle.h>

#define RCLC_RET_ACTION_WAIT_RESULT_REQUEST 2104

typedef rcl_ret_t (* rclc_action_server_handle_goal_callback_t)(
  rclc_action_goal_handle_t * goal_handle,
  void * args);

typedef bool (* rclc_action_server_handle_cancel_callback_t)(
  rclc_action_goal_handle_t * ros_cancel_request,
  void * args);

typedef struct rclc_action_server_t
{
  DECLARE_GOAL_HANDLE_POOL

  rcl_action_server_t rcl_handle;
  const rcl_allocator_t * allocator;

  // Callbacks
  rclc_action_server_handle_goal_callback_t goal_callback;
  rclc_action_server_handle_cancel_callback_t cancel_callback;

  // Available flags
  bool goal_request_available;
  bool cancel_request_available;
  bool result_request_available;
  bool goal_expired_available;  // TODO(acuadros95): implement expired goals
  bool goal_ended;
} rclc_action_server_t;

RCLC_PUBLIC
rcl_ret_t
rclc_action_server_init_default(
  rclc_action_server_t * action_server,
  rcl_node_t * node,
  rclc_support_t * support,
  const rosidl_action_type_support_t * type_support,
  const char * action_name);

RCLC_PUBLIC
rcl_ret_t
rclc_action_send_result(
  rclc_action_goal_handle_t * goal_handle,
  rcl_action_goal_state_t status,
  void * ros_response);

RCLC_PUBLIC
rcl_ret_t
rclc_action_publish_feedback(
  rclc_action_goal_handle_t * goal_handle,
  void * ros_feedback);

RCLC_PUBLIC
rcl_ret_t
rclc_action_server_fini(
  rclc_action_server_t * action_server,
  rcl_node_t * node);

#if __cplusplus
}
#endif

#endif  // RCLC__ACTION_SERVER_H_