.. _program_listing_file_include_rclc_action_client.h:

Program Listing for File action_client.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclc_action_client.h>` (``include/rclc/action_client.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_CLIENT_H_
   #define RCLC__ACTION_CLIENT_H_
   
   #if __cplusplus
   extern "C"
   {
   #endif
   
   #include <rcl_action/rcl_action.h>
   #include <rcl/allocator.h>
   #include <rclc/types.h>
   #include <rclc/action_goal_handle.h>
   #include "rclc/visibility_control.h"
   
   typedef void (* rclc_action_client_goal_callback_t)(
     rclc_action_goal_handle_t * goal_handle,
     bool accepted,
     void * args);
   typedef void (* rclc_action_client_feedback_callback_t)(
     rclc_action_goal_handle_t * goal_handle,
     void * ros_feedback,
     void * args);
   typedef void (* rclc_action_client_result_callback_t)(
     rclc_action_goal_handle_t * goal_handle,
     void * ros_result_response,
     void * args);
   typedef void (* rclc_action_client_cancel_callback_t)(
     rclc_action_goal_handle_t * goal_handle,
     bool cancelled,
     void * args);
   
   typedef struct rclc_action_client_t
   {
     DECLARE_GOAL_HANDLE_POOL
   
     rcl_action_client_t rcl_handle;
     const rcl_allocator_t * allocator;
   
     // Callbacks
     rclc_action_client_goal_callback_t goal_callback;
     rclc_action_client_feedback_callback_t feedback_callback;
     rclc_action_client_result_callback_t result_callback;
     rclc_action_client_cancel_callback_t cancel_callback;
   
     // Action messages
     struct Generic_FeedbackMessage * ros_feedback;
     struct Generic_GetResult_Response * ros_result_response;
     action_msgs__srv__CancelGoal_Response ros_cancel_response;
   
     // Available flags
     bool feedback_available;
     bool status_available;
     bool goal_response_available;
     bool result_response_available;
     bool cancel_response_available;
   } rclc_action_client_t;
   
   RCLC_PUBLIC
   rcl_ret_t
   rclc_action_client_init_default(
     rclc_action_client_t * action_client,
     rcl_node_t * node,
     const rosidl_action_type_support_t * type_support,
     const char * action_name);
   
   RCLC_PUBLIC
   rcl_ret_t
   rclc_action_send_goal_request(
     rclc_action_client_t * action_client,
     void * ros_request,
     rclc_action_goal_handle_t ** goal_handle);
   
   RCLC_PUBLIC
   rcl_ret_t
   rclc_action_send_cancel_request(
     rclc_action_goal_handle_t * goal_handle);
   
   RCLC_PUBLIC
   rcl_ret_t
   rclc_action_client_fini(
     rclc_action_client_t * action_client,
     rcl_node_t * node);
   
   #if __cplusplus
   }
   #endif
   
   #endif  // RCLC__ACTION_CLIENT_H_