.. _program_listing_file_include_rclc_action_goal_handle.h:

Program Listing for File action_goal_handle.h
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclc_action_goal_handle.h>` (``include/rclc/action_goal_handle.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_