Class to interact with goals on a server. More...

#include <server_goal_handle.hpp>

Inheritance diagram for rclcpp_action::ServerGoalHandle< ActionT >:

Collaboration diagram for rclcpp_action::ServerGoalHandle< ActionT >:

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Public Member Functions
void	publish_feedback (std::shared_ptr< typename ActionT::Feedback > feedback_msg)
	Send an update about the progress of a goal. More...

void	set_aborted (typename ActionT::Result::SharedPtr result_msg)
	Indicate that a goal could not be reached and has been aborted. More...

void	set_succeeded (typename ActionT::Result::SharedPtr result_msg)
	Indicate that a goal has been reached. More...

void	set_canceled (typename ActionT::Result::SharedPtr result_msg)
	Indicate that a goal has been canceled. More...

void	set_executing ()
	Indicate that the server is starting to execute a goal. More...

const std::shared_ptr< const typename ActionT::Goal >	get_goal () const
	Get the original request message describing the goal. More...

const GoalID &	get_goal_id () const
	Get the unique identifier of the goal. More...

virtual	~ServerGoalHandle ()

Public Member Functions inherited from rclcpp_action::ServerGoalHandleBase
RCLCPP_ACTION_PUBLIC bool	is_canceling () const

RCLCPP_ACTION_PUBLIC bool	is_active () const

RCLCPP_ACTION_PUBLIC bool	is_executing () const

virtual RCLCPP_ACTION_PUBLIC	~ServerGoalHandleBase ()

Protected Member Functions
	ServerGoalHandle (std::shared_ptr< rcl_action_goal_handle_t > rcl_handle, GoalID uuid, std::shared_ptr< const typename ActionT::Goal > goal, std::function< void(const GoalID &, std::shared_ptr< void >)> on_terminal_state, std::function< void(const GoalID &)> on_executing, std::function< void(std::shared_ptr< typename ActionT::Feedback >)> publish_feedback)

Protected Member Functions inherited from rclcpp_action::ServerGoalHandleBase
RCLCPP_ACTION_PUBLIC	ServerGoalHandleBase (std::shared_ptr< rcl_action_goal_handle_t > rcl_handle)

RCLCPP_ACTION_PUBLIC void	_set_aborted ()

RCLCPP_ACTION_PUBLIC void	_set_succeeded ()

RCLCPP_ACTION_PUBLIC void	_set_canceling ()

RCLCPP_ACTION_PUBLIC void	_set_canceled ()

RCLCPP_ACTION_PUBLIC void	_set_executing ()

RCLCPP_ACTION_PUBLIC bool	try_canceling () noexcept

Protected Attributes
const std::shared_ptr< const typename ActionT::Goal >	goal_
	The original request message describing the goal. More...

const GoalID	uuid_
	A unique id for the goal request. More...

friend	Server< ActionT >

std::function< void(const GoalID &, std::shared_ptr< void >)>	on_terminal_state_

std::function< void(const GoalID &)>	on_executing_

std::function< void(std::shared_ptr< typename ActionT::Feedback >)>	publish_feedback_

Detailed Description

template<typename ActionT>
class rclcpp_action::ServerGoalHandle< ActionT >

Class to interact with goals on a server.

Use this class to check the status of a goal as well as set the result. This class is not meant to be created by a user, instead it is created when a goal has been accepted. The class rclcpp_action::Server<> will create an instance and give it to the user in their handle_accepted callback.

Internally, this class is responsible for coverting between the C++ action type and generic types for rclcpp_action::ServerGoalHandleBase.

Constructor & Destructor Documentation

◆ ~ServerGoalHandle()

template<typename ActionT >

virtual rclcpp_action::ServerGoalHandle< ActionT >::~ServerGoalHandle ( )

inlinevirtual

◆ ServerGoalHandle()

template<typename ActionT >

rclcpp_action::ServerGoalHandle< ActionT >::ServerGoalHandle	(	std::shared_ptr< rcl_action_goal_handle_t >	rcl_handle,
		GoalID	uuid,
		std::shared_ptr< const typename ActionT::Goal >	goal,
		std::function< void(const GoalID &, std::shared_ptr< void >)>	on_terminal_state,
		std::function< void(const GoalID &)>	on_executing,
		std::function< void(std::shared_ptr< typename ActionT::Feedback >)>	publish_feedback
	)

inlineprotected

Member Function Documentation

◆ publish_feedback()

template<typename ActionT >

void rclcpp_action::ServerGoalHandle< ActionT >::publish_feedback ( std::shared_ptr< typename ActionT::Feedback > feedback_msg )

inline

Send an update about the progress of a goal.

This must only be called when the goal is executing. If execution of a goal is deferred then ServerGoalHandle<>::set_executing() must be called first. std::runtime_error is raised if the goal is in any state besides executing.

Parameters

[in] feedback_msg the message to publish to clients.

◆ set_aborted()

template<typename ActionT >

void rclcpp_action::ServerGoalHandle< ActionT >::set_aborted ( typename ActionT::Result::SharedPtr result_msg )

inline

Indicate that a goal could not be reached and has been aborted.

Only call this if the goal was executing but cannot be completed. This is a terminal state, no more methods should be called on a goal handle after this is called. An exception is raised if the goal is in any state besides executing.

Parameters

[in] result_msg the final result to send to clients.

◆ set_succeeded()

template<typename ActionT >

void rclcpp_action::ServerGoalHandle< ActionT >::set_succeeded ( typename ActionT::Result::SharedPtr result_msg )

inline

Indicate that a goal has been reached.

Only call this if the goal is executing and has reached the desired final state. This is a terminal state, no more methods should be called on a goal handle after this is called. An exception is raised if the goal is in any state besides executing.

Parameters

[in] result_msg the final result to send to clients.

◆ set_canceled()

template<typename ActionT >

void rclcpp_action::ServerGoalHandle< ActionT >::set_canceled ( typename ActionT::Result::SharedPtr result_msg )

inline

Indicate that a goal has been canceled.

Only call this if the goal is executing or pending, but has been canceled. This is a terminal state, no more methods should be called on a goal handle after this is called. An exception is raised if the goal is in any state besides executing or pending.

Parameters

[in] result_msg the final result to send to clients.

◆ set_executing()

template<typename ActionT >

void rclcpp_action::ServerGoalHandle< ActionT >::set_executing ( )

inline

Indicate that the server is starting to execute a goal.

Only call this if the goal is pending. An exception is raised if the goal is in any state besides pending.

◆ get_goal()

template<typename ActionT >

const std::shared_ptr<const typename ActionT::Goal> rclcpp_action::ServerGoalHandle< ActionT >::get_goal ( ) const

inline

Get the original request message describing the goal.

◆ get_goal_id()

template<typename ActionT >

const GoalID& rclcpp_action::ServerGoalHandle< ActionT >::get_goal_id ( ) const

inline

Get the unique identifier of the goal.

Member Data Documentation

◆ goal_

template<typename ActionT >

const std::shared_ptr<const typename ActionT::Goal> rclcpp_action::ServerGoalHandle< ActionT >::goal_

protected

The original request message describing the goal.

◆ uuid_

template<typename ActionT >

const GoalID rclcpp_action::ServerGoalHandle< ActionT >::uuid_

protected

A unique id for the goal request.

◆ Server< ActionT >

template<typename ActionT >

friend rclcpp_action::ServerGoalHandle< ActionT >::Server< ActionT >

protected

◆ on_terminal_state_

template<typename ActionT >

std::function<void(const GoalID &, std::shared_ptr<void>)> rclcpp_action::ServerGoalHandle< ActionT >::on_terminal_state_

protected

◆ on_executing_

template<typename ActionT >

std::function<void(const GoalID &)> rclcpp_action::ServerGoalHandle< ActionT >::on_executing_

protected

◆ publish_feedback_

template<typename ActionT >

std::function<void(std::shared_ptr<typename ActionT::Feedback>)> rclcpp_action::ServerGoalHandle< ActionT >::publish_feedback_

protected

The documentation for this class was generated from the following file:

include/rclcpp_action/server_goal_handle.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename ActionT> class rclcpp_action::ServerGoalHandle< ActionT >

Constructor & Destructor Documentation

◆ ~ServerGoalHandle()

◆ ServerGoalHandle()

Member Function Documentation

◆ publish_feedback()

◆ set_aborted()

◆ set_succeeded()

◆ set_canceled()

◆ set_executing()

◆ get_goal()

◆ get_goal_id()

Member Data Documentation

◆ goal_

◆ uuid_

◆ Server< ActionT >

◆ on_terminal_state_

◆ on_executing_

◆ publish_feedback_

template<typename ActionT>
class rclcpp_action::ServerGoalHandle< ActionT >