#include "rcl_action/action_client.h"
#include "rcl_action/action_server.h"
#include "rcl_action/visibility_control.h"
#include "rcl/wait.h"

Include dependency graph for wait.h:

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Functions
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_wait_set_add_action_client (rcl_wait_set_t wait_set, const rcl_action_client_t action_client, size_t client_index, size_t subscription_index)
	Add a rcl_action_client_t to a wait set. More...

RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_wait_set_add_action_server (rcl_wait_set_t wait_set, const rcl_action_server_t action_server, size_t *service_index)
	Add a rcl_action_server_t to a wait set. More...

RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_client_wait_set_get_num_entities (const rcl_action_client_t action_client, size_t num_subscriptions, size_t num_guard_conditions, size_t num_timers, size_t num_clients, size_t num_services)
	Get the number of wait set entities associated with a rcl_action_client_t. More...

RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_server_wait_set_get_num_entities (const rcl_action_server_t action_server, size_t num_subscriptions, size_t num_guard_conditions, size_t num_timers, size_t num_clients, size_t num_services)
	Get the number of wait set entities associated with a rcl_action_server_t. More...

RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_client_wait_set_get_entities_ready (const rcl_wait_set_t wait_set, const rcl_action_client_t action_client, bool is_feedback_ready, bool is_status_ready, bool is_goal_response_ready, bool is_cancel_response_ready, bool *is_result_response_ready)
	Get the wait set entities that are ready for a rcl_action_client_t. More...

RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_server_wait_set_get_entities_ready (const rcl_wait_set_t wait_set, const rcl_action_server_t action_server, bool is_goal_request_ready, bool is_cancel_request_ready, bool is_result_request_ready, bool is_goal_expired)
	Get the wait set entities that are ready for a rcl_action_server_t. More...

Function Documentation

◆ rcl_action_wait_set_add_action_client()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_wait_set_add_action_client	(	rcl_wait_set_t *	wait_set,
		const rcl_action_client_t *	action_client,
		size_t *	client_index,
		size_t *	subscription_index
	)

Add a rcl_action_client_t to a wait set.

This function will add the underlying service clients and subscribers to the wait set.

This function behaves similar to adding subscriptions to the wait set, but will add five entities:

Three service clients
Two subscriptions

See also: rcl_wait_set_add_subscription

If this function fails for any reason, client_index and subscription_index are not set. It is also possible the provided wait set is left in an inconsistent state (e.g. some of the clients and subscriptions were added to the wait set, but not all).

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in,out]	wait_set	struct where action client service client and subscription are to be stored
[in]	action_client	the action client to be added to the wait set
[out]	client_index	the starting index in the wait set's client container where the action clients underlying service clients were added. Optionally, set to `NULL` if ignored.
[out]	subscription_index	the starting index in the wait set's subscription container where the action clients underlying subscriptions were added. Optionally, set to `NULL` if ignored.

Returns: RCL_RET_OK if added successfully, or; RCL_RET_WAIT_SET_INVALID if the wait set is zero initialized, or; RCL_RET_WAIT_SET_FULL if the subscription set is full, or; RCL_RET_ACTION_CLIENT_INVALID if the action client is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_action_wait_set_add_action_server()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_wait_set_add_action_server	(	rcl_wait_set_t *	wait_set,
		const rcl_action_server_t *	action_server,
		size_t *	service_index
	)

Add a rcl_action_server_t to a wait set.

This function will add the underlying services to the wait set.

This function behaves similar to adding services to the wait set, but will add three services.

See also: rcl_wait_set_add_service

If this function fails for any reason, service_index is not set. It is also possible the provided wait set is left in an inconsistent state (e.g. some of the clients and subscribers were added to the wait set, but not all).

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in,out]	wait_set	struct where action server services are to be stored
[in]	action_server	the action server to be added to the wait set
[out]	service_index	the starting index in the wait set's service container where the action servers underlying services were added. Optionally, set to `NULL` if ignored.

Returns: RCL_RET_OK if added successfully, or; RCL_RET_WAIT_SET_INVALID if the wait set is zero initialized, or; RCL_RET_WAIT_SET_FULL if the subscription set is full, or; RCL_RET_ACTION_SERVER_INVALID if the action server is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_action_client_wait_set_get_num_entities()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_client_wait_set_get_num_entities	(	const rcl_action_client_t *	action_client,
		size_t *	num_subscriptions,
		size_t *	num_guard_conditions,
		size_t *	num_timers,
		size_t *	num_clients,
		size_t *	num_services
	)

Get the number of wait set entities associated with a rcl_action_client_t.

Returns the number of entities that are added to the wait set if rcl_action_wait_set_add_action_client() is called.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	action_client	an action client to query
[out]	num_subscriptions	the number of subscriptions added when the action client is added to the wait set
[out]	num_guard_conditions	the number of guard conditions added when the action client is added to the wait set
[out]	num_timers	the number of timers added when the action client is added to the wait set
[out]	num_clients	the number of clients added when the action client is added to the wait set
[out]	num_services	the number of services added when the action client is added to the wait set

Returns: RCL_RET_OK if call is successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ACTION_CLIENT_INVALID if the action client is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_action_server_wait_set_get_num_entities()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_server_wait_set_get_num_entities	(	const rcl_action_server_t *	action_server,
		size_t *	num_subscriptions,
		size_t *	num_guard_conditions,
		size_t *	num_timers,
		size_t *	num_clients,
		size_t *	num_services
	)

Get the number of wait set entities associated with a rcl_action_server_t.

Returns the number of entities that are added to the wait set if rcl_action_wait_set_add_action_server() is called.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	action_server	an action server to query
[out]	num_subscriptions	the number of subscriptions added when the action server is added to the wait set
[out]	num_guard_conditions	the number of guard conditions added when the action server is added to the wait set
[out]	num_timers	the number of timers added when the action server is added to the wait set
[out]	num_clients	the number of clients added when the action server is added to the wait set
[out]	num_services	the number of services added when the action server is added to the wait set

Returns: RCL_RET_OK if call is successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ACTION_SERVER_INVALID if the action server is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_action_client_wait_set_get_entities_ready()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_client_wait_set_get_entities_ready	(	const rcl_wait_set_t *	wait_set,
		const rcl_action_client_t *	action_client,
		bool *	is_feedback_ready,
		bool *	is_status_ready,
		bool *	is_goal_response_ready,
		bool *	is_cancel_response_ready,
		bool *	is_result_response_ready
	)

Get the wait set entities that are ready for a rcl_action_client_t.

The caller can use this function to determine the relevant action client functions to call: rcl_action_take_feedback(), rcl_action_take_status(), rcl_action_take_goal_response(), rcl_action_take_cancel_response(), or rcl_action_take_result_response().

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	action_client	an action client to query
[out]	is_feedback_ready	`true` if there is a feedback message ready to take, `false` otherwise
[out]	is_status_message	`true` if there is a status message ready to take, `false` otherwise
[out]	is_goal_response_ready	`true` if there is a goal response message ready to take, `false` otherwise
[out]	is_cancel_response_ready	`true` if there is a cancel response message ready to take, `false` otherwise
[out]	is_result_response_ready	`true` if there is a result response message ready to take, `false` otherwise

Returns: RCL_RET_OK if call is successful, or; RCL_RET_WAIT_SET_INVALID if the wait set is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ACTION_CLIENT_INVALID if the action client is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

◆ rcl_action_server_wait_set_get_entities_ready()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_server_wait_set_get_entities_ready	(	const rcl_wait_set_t *	wait_set,
		const rcl_action_server_t *	action_server,
		bool *	is_goal_request_ready,
		bool *	is_cancel_request_ready,
		bool *	is_result_request_ready,
		bool *	is_goal_expired
	)

Get the wait set entities that are ready for a rcl_action_server_t.

The caller can use this function to determine the relevant action server functions to call: rcl_action_take_goal_request(), rcl_action_take_cancel_request(), or rcl_action_take_result_request().

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	action_server	an action server to query
[out]	is_goal_request_ready	`true` if there is a goal request message ready to take, `false` otherwise
[out]	is_cancel_request_ready	`true` if there is a cancel request message ready to take, `false` otherwise
[out]	is_result_request_ready	`true` if there is a result request message ready to take, `false` otherwise
[out]	is_goal_expired	`true` if there is a goal that expired, `false` otherwise

Returns: RCL_RET_OK if call is successful, or; RCL_RET_WAIT_SET_INVALID if the wait set is invalid, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ACTION_CLIENT_INVALID if the action server is invalid, or; RCL_RET_ERROR if an unspecified error occurs.

Functions

Function Documentation

◆ rcl_action_wait_set_add_action_client()

◆ rcl_action_wait_set_add_action_server()

◆ rcl_action_client_wait_set_get_num_entities()

◆ rcl_action_server_wait_set_get_num_entities()

◆ rcl_action_client_wait_set_get_entities_ready()

◆ rcl_action_server_wait_set_get_entities_ready()