Class PlayerActionClient

• Defined in File player_action_client.hpp

Class Documentation

class PlayerActionClient

Public Types

enum class ServiceInterfaceInAction

Values:

enumerator SEND_GOAL_SERVICE

enumerator CANCEL_GOAL_SERVICE

enumerator GET_RESULT_SERVICE

enum class ServiceEventType

Values:

enumerator REQUEST_SENT

enumerator REQUEST_RECEIVED

enumerator RESPONSE_SENT

enumerator RESPONSE_RECEIVED

using GoalID = rclcpp_action::GoalUUID

using IntrospectionMessageMembersPtr = const rosidl_typesupport_introspection_cpp::MessageMembers*

Public Functions

explicit PlayerActionClient(rclcpp_action::GenericClient::SharedPtr generic_client, std::string &action_name, const std::string &action_type, rclcpp::Logger logger)

~PlayerActionClient()

const std::string &get_action_name()

std::shared_ptr<uint8_t[]> deserialize_send_goal_service_event(const rcl_serialized_message_t &message)

Deserialize message to the type erased send goal service event.

Parameters:

message – - Serialized message

Returns:

Shared pointer to the byte array with deserialized service event if success, otherwise nullptr

std::shared_ptr<uint8_t[]> deserialize_cancel_goal_service_event(const rcl_serialized_message_t &message)

Deserialize message to the type erased cancel goal service event.

Parameters:

message – - Serialized message

Returns:

Shared pointer to the byte array with deserialized service event if success, otherwise nullptr

std::shared_ptr<uint8_t[]> deserialize_get_result_service_event(const rcl_serialized_message_t &message)

Deserialize message to the type erased get result service event.

Parameters:

message – - Serialized message

Returns:

Shared pointer to the byte array with deserialized service event if success, otherwise nullptr

void async_send_goal_request(const std::shared_ptr<uint8_t[]> &type_erased_send_goal_service_event)

Extract the request data from the send_goal event message and asynchronously.

void async_send_cancel_request(const std::shared_ptr<uint8_t[]> &type_erased_cancel_goal_service_event)

Extract the request data from the cancel_goal event message and asynchronously.

void async_send_result_request(const std::shared_ptr<uint8_t[]> &type_erased_get_result_service_event)

Extract the request data from the get_result event message and asynchronously.

ServiceEventType get_service_event_type(const std::shared_ptr<uint8_t[]> &type_erased_service_event, ServiceInterfaceInAction service_type_in_action)

inline rclcpp_action::GenericClient::SharedPtr generic_client()

bool goal_handle_in_processing(const GoalID &goal_id)