.. _program_listing_file_include_rcl_action_action_server.h:

Program Listing for File action_server.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_action_action_server.h>` (``include/rcl_action/action_server.h``)

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

.. code-block:: cpp

   // Copyright 2018 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 RCL_ACTION__ACTION_SERVER_H_
   #define RCL_ACTION__ACTION_SERVER_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rcl_action/goal_handle.h"
   #include "rcl_action/types.h"
   #include "rcl_action/visibility_control.h"
   #include "rcl/event_callback.h"
   #include "rcl/macros.h"
   #include "rcl/node.h"
   #include "rcl/time.h"
   
   #include "rosidl_runtime_c/action_type_support_struct.h"
   
   typedef struct rcl_action_server_impl_s rcl_action_server_impl_t;
   
   typedef struct rcl_action_server_s
   {
     rcl_action_server_impl_t * impl;
   } rcl_action_server_t;
   
   typedef struct rcl_action_server_options_s
   {
     rmw_qos_profile_t goal_service_qos;
     rmw_qos_profile_t cancel_service_qos;
     rmw_qos_profile_t result_service_qos;
     rmw_qos_profile_t feedback_topic_qos;
     rmw_qos_profile_t status_topic_qos;
   
     rcl_allocator_t allocator;
     rcl_duration_t result_timeout;
   } rcl_action_server_options_t;
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_action_server_t
   rcl_action_get_zero_initialized_server(void);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_server_init(
     rcl_action_server_t * action_server,
     rcl_node_t * node,
     rcl_clock_t * clock,
     const rosidl_action_type_support_t * type_support,
     const char * action_name,
     const rcl_action_server_options_t * options);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_action_server_options_t
   rcl_action_server_get_default_options(void);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_take_goal_request(
     const rcl_action_server_t * action_server,
     rmw_request_id_t * request_header,
     void * ros_goal_request);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_send_goal_response(
     const rcl_action_server_t * action_server,
     rmw_request_id_t * response_header,
     void * ros_goal_response);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_action_goal_handle_t *
   rcl_action_accept_new_goal(
     rcl_action_server_t * action_server,
     const rcl_action_goal_info_t * goal_info);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_publish_feedback(
     const rcl_action_server_t * action_server,
     void * ros_feedback);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_get_goal_status_array(
     const rcl_action_server_t * action_server,
     rcl_action_goal_status_array_t * status_message);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_publish_status(
     const rcl_action_server_t * action_server,
     const void * status_message);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_take_result_request(
     const rcl_action_server_t * action_server,
     rmw_request_id_t * request_header,
     void * ros_result_request);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_send_result_response(
     const rcl_action_server_t * action_server,
     rmw_request_id_t * response_header,
     void * ros_result_response);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_expire_goals(
     const rcl_action_server_t * action_server,
     rcl_action_goal_info_t * expired_goals,
     size_t expired_goals_capacity,
     size_t * num_expired);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_notify_goal_done(
     const rcl_action_server_t * action_server);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_take_cancel_request(
     const rcl_action_server_t * action_server,
     rmw_request_id_t * request_header,
     void * ros_cancel_request);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_process_cancel_request(
     const rcl_action_server_t * action_server,
     const rcl_action_cancel_request_t * cancel_request,
     rcl_action_cancel_response_t * cancel_response);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_send_cancel_response(
     const rcl_action_server_t * action_server,
     rmw_request_id_t * response_header,
     void * ros_cancel_response);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   const char *
   rcl_action_server_get_action_name(const rcl_action_server_t * action_server);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   const rcl_action_server_options_t *
   rcl_action_server_get_options(const rcl_action_server_t * action_server);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_server_get_goal_handles(
     const rcl_action_server_t * action_server,
     rcl_action_goal_handle_t *** goal_handles,
     size_t * num_goals);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_action_server_goal_exists(
     const rcl_action_server_t * action_server,
     const rcl_action_goal_info_t * goal_info);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_action_server_is_valid(const rcl_action_server_t * action_server);
   
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_action_server_is_valid_except_context(const rcl_action_server_t * action_server);
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_server_set_goal_service_callback(
     const rcl_action_server_t * action_server,
     rcl_event_callback_t callback,
     const void * user_data);
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_server_set_cancel_service_callback(
     const rcl_action_server_t * action_server,
     rcl_event_callback_t callback,
     const void * user_data);
   
   RCL_ACTION_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_action_server_set_result_service_callback(
     const rcl_action_server_t * action_server,
     rcl_event_callback_t callback,
     const void * user_data);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL_ACTION__ACTION_SERVER_H_