15 #ifndef RCLCPP_ACTION__CLIENT_HPP_ 16 #define RCLCPP_ACTION__CLIENT_HPP_ 26 #include <rosidl_generator_c/action_type_support_struct.h> 27 #include <rosidl_typesupport_cpp/action_type_support.hpp> 69 template<
typename RatioT = std::milli>
75 std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
128 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
129 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
130 rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
132 const rosidl_action_type_support_t * type_support,
254 template<
typename ActionT>
269 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
270 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
271 rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
272 const
std::
string & action_name,
276 node_base, node_graph, node_logging, action_name,
277 rosidl_typesupport_cpp::get_action_type_support_handle<ActionT>(),
287 auto promise = std::make_shared<std::promise<typename GoalHandle::SharedPtr>>();
289 using GoalRequest =
typename ActionT::GoalRequestService::Request;
293 auto goal_request = std::make_shared<GoalRequest>(goal);
296 std::static_pointer_cast<void>(goal_request),
297 [
this, goal_request, callback, ignore_result, promise](
300 using GoalResponse =
typename ActionT::GoalRequestService::Response;
302 if (!goal_response->accepted) {
303 promise->set_value(
nullptr);
308 goal_info.goal_id.uuid = goal_request->action_goal_id.uuid;
309 goal_info.stamp = goal_response->stamp;
312 if (!ignore_result) {
314 this->make_result_aware(goal_handle);
321 goal_handles_[goal_handle->get_goal_id()] = goal_handle;
322 promise->set_value(goal_handle);
331 if (goal_handles_.count(goal_handle->get_goal_id()) == 0) {
335 if (!goal_handle->is_result_aware()) {
336 this->make_result_aware(goal_handle);
338 return goal_handle->async_result();
345 if (goal_handles_.count(goal_handle->get_goal_id()) == 0) {
349 auto promise = std::make_shared<std::promise<bool>>();
351 auto cancel_request = std::make_shared<CancelRequest>();
353 cancel_request->goal_info.goal_id.uuid = goal_handle->get_goal_id();
355 std::static_pointer_cast<void>(cancel_request),
359 bool goal_canceled =
false;
360 if (!cancel_response->goals_canceling.empty()) {
361 const GoalInfo & canceled_goal_info = cancel_response->goals_canceling[0];
363 goal_canceled = (canceled_goal_info.goal_id.uuid == goal_handle->get_goal_id());
365 promise->set_value(goal_canceled);
373 auto cancel_request = std::make_shared<CancelRequest>();
376 cancel_request->goal_info.goal_id.uuid.begin(),
377 cancel_request->goal_info.goal_id.uuid.end(), 0u);
378 return async_cancel(cancel_request);
384 auto cancel_request = std::make_shared<CancelRequest>();
387 cancel_request->goal_info.goal_id.uuid.begin(),
388 cancel_request->goal_info.goal_id.uuid.end(), 0u);
389 cancel_request->goal_info.stamp = stamp;
390 return async_cancel(cancel_request);
397 auto it = goal_handles_.begin();
398 while (it != goal_handles_.end()) {
399 it->second->invalidate();
400 it = goal_handles_.erase(it);
409 using GoalResponse =
typename ActionT::GoalRequestService::Response;
417 using GoalResultResponse =
typename ActionT::GoalResultService::Response;
445 typename Feedback::SharedPtr feedback_message =
448 const GoalID & goal_id = feedback_message->action_goal_id.uuid;
449 if (goal_handles_.count(goal_id) == 0) {
452 "Received feedback for unknown goal. Ignoring...");
455 typename GoalHandle::SharedPtr goal_handle = goal_handles_[goal_id];
457 goal_handle->call_feedback_callback(goal_handle, feedback_message);
464 using GoalStatusMessage =
typename ActionT::GoalStatusMessage;
473 using GoalStatusMessage =
typename ActionT::GoalStatusMessage;
475 for (
const GoalStatus & status : status_message->status_list) {
477 const GoalID & goal_id = status.goal_info.goal_id.uuid;
478 if (goal_handles_.count(goal_id) == 0) {
481 "Received status for unknown goal. Ignoring...");
484 typename GoalHandle::SharedPtr goal_handle = goal_handles_[goal_id];
485 goal_handle->set_status(status.status);
486 const int8_t goal_status = goal_handle->get_status();
488 goal_status == GoalStatus::STATUS_SUCCEEDED ||
489 goal_status == GoalStatus::STATUS_CANCELED ||
490 goal_status == GoalStatus::STATUS_ABORTED)
492 goal_handles_.erase(goal_id);
499 make_result_aware(
typename GoalHandle::SharedPtr goal_handle)
501 using GoalResultRequest =
typename ActionT::GoalResultService::Request;
502 auto goal_result_request = std::make_shared<GoalResultRequest>();
504 goal_result_request->action_goal_id.uuid = goal_handle->get_goal_id();
506 std::static_pointer_cast<void>(goal_result_request),
511 using GoalResultResponse =
typename ActionT::GoalResultService::Response;
513 result.goal_id = goal_handle->get_goal_id();
514 result.code =
static_cast<ResultCode>(result.response->action_status);
515 goal_handle->set_result(result);
517 goal_handles_.erase(goal_handle->get_goal_id());
519 goal_handle->set_result_awareness(
true);
524 async_cancel(
typename CancelRequest::SharedPtr cancel_request)
527 auto promise = std::make_shared<std::promise<typename CancelResponse::SharedPtr>>();
530 std::static_pointer_cast<void>(cancel_request),
534 promise->set_value(cancel_response);
544 #endif // RCLCPP_ACTION__CLIENT_HPP_ virtual RCLCPP_ACTION_PUBLIC void send_result_request(std::shared_ptr< void > request, ResponseCallback callback)
Definition: client.hpp:57
typename ActionT::Goal Goal
Definition: client.hpp:260
virtual ~Client()
Definition: client.hpp:394
RCLCPP_ACTION_PUBLIC size_t get_number_of_ready_guard_conditions() override
typename GoalHandle::Result Result
Definition: client.hpp:263
Action Client.
Definition: client.hpp:255
typename ActionT::CancelGoalService::Request CancelRequest
Definition: client.hpp:265
GoalResponse
A response returned by an action server callback when a goal is requested.
Definition: server.hpp:43
RCLCPP_ACTION_PUBLIC size_t get_number_of_ready_timers() override
typename ActionT::Feedback Feedback
Definition: client.hpp:261
ResultCode
The possible statuses that an action goal can finish with.
Definition: client_goal_handle.hpp:35
CancelResponse
A response returned by an action server callback when a goal has been asked to be canceled...
Definition: server.hpp:54
T current_exception(T... args)
RCLCPP_ACTION_PUBLIC ClientBase(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const std::string &action_name, const rosidl_action_type_support_t *type_support, const rcl_action_client_options_t &options)
typename ClientGoalHandle< ActionT >::FeedbackCallback FeedbackCallback
Definition: client.hpp:264
virtual std::shared_ptr< void > create_cancel_response() const =0
virtual RCLCPP_ACTION_PUBLIC void handle_result_response(const rmw_request_id_t &response_header, std::shared_ptr< void > result_response)
RCLCPP_ACTION_PUBLIC size_t get_number_of_ready_services() override
virtual std::shared_ptr< void > create_result_response() const =0
bool wait_for_action_server(std::chrono::duration< int64_t, RatioT > timeout=std::chrono::duration< int64_t, RatioT >(-1))
Wait for action_server_is_ready() to become true, or until the given timeout is reached.
Definition: client.hpp:71
virtual RCLCPP_ACTION_PUBLIC ~ClientBase()
virtual std::shared_ptr< void > create_status_message() const =0
#define RCLCPP_DEBUG(logger,...)
std::shared_future< Result > async_get_result(typename GoalHandle::SharedPtr goal_handle)
Definition: client.hpp:328
std::shared_future< typename CancelResponse::SharedPtr > async_cancel_all_goals()
Definition: client.hpp:371
RCLCPP_ACTION_PUBLIC size_t get_number_of_ready_clients() override
virtual std::shared_ptr< void > create_goal_response() const =0
std::shared_future< typename CancelResponse::SharedPtr > async_cancel_goals_before(const rclcpp::Time &stamp)
Definition: client.hpp:382
T static_pointer_cast(T... args)
#define RCLCPP_ACTION_PUBLIC
Definition: visibility_control.hpp:50
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
virtual RCLCPP_ACTION_PUBLIC void handle_goal_response(const rmw_request_id_t &response_header, std::shared_ptr< void > goal_response)
action_msgs::msg::GoalStatus GoalStatus
Definition: types.hpp:33
std::shared_future< typename GoalHandle::SharedPtr > async_send_goal(const Goal &goal, FeedbackCallback callback=nullptr, bool ignore_result=false)
Definition: client.hpp:283
action_msgs::msg::GoalInfo GoalInfo
Definition: types.hpp:34
Definition: exceptions.hpp:24
RCLCPP_ACTION_PUBLIC bool wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
Wait for action_server_is_ready() to become true, or until the given timeout is reached.
Definition: client.hpp:44
virtual RCLCPP_ACTION_PUBLIC void send_goal_request(std::shared_ptr< void > request, ResponseCallback callback)
virtual void handle_status_message(std::shared_ptr< void > message)=0
virtual RCLCPP_ACTION_PUBLIC void send_cancel_request(std::shared_ptr< void > request, ResponseCallback callback)
RCLCPP_ACTION_PUBLIC bool is_ready(rcl_wait_set_t *wait_set) override
virtual std::shared_ptr< void > create_feedback_message() const =0
std::shared_future< bool > async_cancel_goal(typename GoalHandle::SharedPtr goal_handle)
Definition: client.hpp:342
Definition: client_goal_handle.hpp:49
RCLCPP_ACTION_PUBLIC size_t get_number_of_ready_subscriptions() override
virtual RCLCPP_ACTION_PUBLIC GoalID generate_goal_id()
virtual RCLCPP_ACTION_PUBLIC void handle_cancel_response(const rmw_request_id_t &response_header, std::shared_ptr< void > cancel_response)
virtual void handle_feedback_message(std::shared_ptr< void > message)=0
RCLCPP_ACTION_PUBLIC rclcpp::Logger get_logger()
typename ActionT::CancelGoalService::Response CancelResponse
Definition: client.hpp:266
RCLCPP_ACTION_PUBLIC void execute() override
RCLCPP_ACTION_PUBLIC bool add_to_wait_set(rcl_wait_set_t *wait_set) override
RCLCPP_ACTION_PUBLIC bool action_server_is_ready() const
Return true if there is an action server that is ready to take goal requests.