types.h File Reference

#include "rcl_action/visibility_control.h"
#include "action_msgs/msg/goal_info.h"
#include "action_msgs/msg/goal_status.h"
#include "action_msgs/msg/goal_status_array.h"
#include "action_msgs/srv/cancel_goal.h"
#include "rcl/allocator.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rosidl_generator_c/action_type_support_struct.h"

Include dependency graph for types.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	rcl_action_goal_status_array_t
struct	rcl_action_cancel_response_t

Macros
#define	RCL_RET_ACTION_NAME_INVALID   2000
	Action name does not pass validation return code. More...
#define	RCL_RET_ACTION_GOAL_ACCEPTED   2100
	Action goal accepted return code. More...
#define	RCL_RET_ACTION_GOAL_REJECTED   2101
	Action goal rejected return code. More...
#define	RCL_RET_ACTION_CLIENT_INVALID   2102
	Action client is invalid return code. More...
#define	RCL_RET_ACTION_CLIENT_TAKE_FAILED   2103
	Action client failed to take response return code. More...
#define	RCL_RET_ACTION_SERVER_INVALID   2200
	Action server is invalid return code. More...
#define	RCL_RET_ACTION_SERVER_TAKE_FAILED   2201
	Action server failed to take request return code. More...
#define	RCL_RET_ACTION_GOAL_HANDLE_INVALID   2300
	Action goal handle invalid return code. More...
#define	RCL_RET_ACTION_GOAL_EVENT_INVALID   2301
	Action invalid event return code. More...
#define	UUID_SIZE   16
#define	uuidcmp(uuid0, uuid1)   (0 == memcmp(uuid0, uuid1, UUID_SIZE))
#define	zerouuid   (uint8_t[UUID_SIZE]) {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define	uuidcmpzero(uuid)   uuidcmp(uuid, (zerouuid))
#define	GOAL_STATE_UNKNOWN   action_msgs__msg__GoalStatus__STATUS_UNKNOWN
#define	GOAL_STATE_ACCEPTED   action_msgs__msg__GoalStatus__STATUS_ACCEPTED
#define	GOAL_STATE_EXECUTING   action_msgs__msg__GoalStatus__STATUS_EXECUTING
#define	GOAL_STATE_CANCELING   action_msgs__msg__GoalStatus__STATUS_CANCELING
#define	GOAL_STATE_SUCCEEDED   action_msgs__msg__GoalStatus__STATUS_SUCCEEDED
#define	GOAL_STATE_CANCELED   action_msgs__msg__GoalStatus__STATUS_CANCELED
#define	GOAL_STATE_ABORTED   action_msgs__msg__GoalStatus__STATUS_ABORTED
#define	GOAL_STATE_NUM_STATES   7

Typedefs
typedef struct rcl_action_server_t	rcl_action_server_t
typedef action_msgs__msg__GoalInfo	rcl_action_goal_info_t
typedef action_msgs__msg__GoalStatus	rcl_action_goal_status_t
typedef struct rcl_action_goal_status_array_t	rcl_action_goal_status_array_t
typedef action_msgs__srv__CancelGoal_Request	rcl_action_cancel_request_t
typedef struct rcl_action_cancel_response_t	rcl_action_cancel_response_t
typedef int8_t	rcl_action_goal_state_t
	Goal states. More...
typedef enum rcl_action_goal_event_t	rcl_action_goal_event_t
	Goal state transition events. More...

Enumerations
enum	rcl_action_goal_event_t {   GOAL_EVENT_EXECUTE = 0, GOAL_EVENT_CANCEL_GOAL, GOAL_EVENT_SUCCEED, GOAL_EVENT_ABORT,   GOAL_EVENT_CANCELED, GOAL_EVENT_NUM_EVENTS }
	Goal state transition events. More...

Functions
RCL_ACTION_PUBLIC rcl_action_goal_info_t	rcl_action_get_zero_initialized_goal_info (void)
	Return a rcl_action_goal_info_t with members set to zero values. More...
RCL_ACTION_PUBLIC rcl_action_goal_status_array_t	rcl_action_get_zero_initialized_goal_status_array (void)
	Return a rcl_action_goal_status_array_t with members set to NULL. More...
RCL_ACTION_PUBLIC rcl_action_cancel_request_t	rcl_action_get_zero_initialized_cancel_request (void)
	Return a rcl_action_cancel_request_t with members set to NULL. More...
RCL_ACTION_PUBLIC rcl_action_cancel_response_t	rcl_action_get_zero_initialized_cancel_response (void)
	Return a rcl_action_cancel_response_t with members set to NULL. More...
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_goal_status_array_init (rcl_action_goal_status_array_t *status_array, const size_t num_status, const rcl_allocator_t allocator)
	Initialize a rcl_action_goal_status_array_t. More...
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_goal_status_array_fini (rcl_action_goal_status_array_t *status_array)
	Finalize a rcl_action_goal_status_array_t. More...
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_cancel_response_init (rcl_action_cancel_response_t *cancel_response, const size_t num_goals_canceling, const rcl_allocator_t allocator)
	Initialize a rcl_action_cancel_response_t. More...
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_cancel_response_fini (rcl_action_cancel_response_t *cancel_response)
	Finalize a rcl_action_cancel_response_t. More...

Variables
const char *	goal_state_descriptions []
	User friendly error messages for invalid trasntions. More...
const char *	goal_event_descriptions []

Macro Definition Documentation

RCL_RET_ACTION_NAME_INVALID

#define RCL_RET_ACTION_NAME_INVALID   2000

Action name does not pass validation return code.

RCL_RET_ACTION_GOAL_ACCEPTED

#define RCL_RET_ACTION_GOAL_ACCEPTED   2100

Action goal accepted return code.

RCL_RET_ACTION_GOAL_REJECTED

#define RCL_RET_ACTION_GOAL_REJECTED   2101

Action goal rejected return code.

RCL_RET_ACTION_CLIENT_INVALID

#define RCL_RET_ACTION_CLIENT_INVALID   2102

Action client is invalid return code.

RCL_RET_ACTION_CLIENT_TAKE_FAILED

#define RCL_RET_ACTION_CLIENT_TAKE_FAILED   2103

Action client failed to take response return code.

RCL_RET_ACTION_SERVER_INVALID

#define RCL_RET_ACTION_SERVER_INVALID   2200

Action server is invalid return code.

RCL_RET_ACTION_SERVER_TAKE_FAILED

#define RCL_RET_ACTION_SERVER_TAKE_FAILED   2201

Action server failed to take request return code.

RCL_RET_ACTION_GOAL_HANDLE_INVALID

#define RCL_RET_ACTION_GOAL_HANDLE_INVALID   2300

Action goal handle invalid return code.

RCL_RET_ACTION_GOAL_EVENT_INVALID

#define RCL_RET_ACTION_GOAL_EVENT_INVALID   2301

Action invalid event return code.

UUID_SIZE

#define UUID_SIZE   16

uuidcmp

#define uuidcmp	(		uuid0,
			uuid1
	)		(0 == memcmp(uuid0, uuid1, UUID_SIZE))

zerouuid

#define zerouuid   (uint8_t[UUID_SIZE]) {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}

uuidcmpzero

#define uuidcmpzero

(

uuid

)

uuidcmp(uuid, (zerouuid))

GOAL_STATE_UNKNOWN

#define GOAL_STATE_UNKNOWN   action_msgs__msg__GoalStatus__STATUS_UNKNOWN

GOAL_STATE_ACCEPTED

#define GOAL_STATE_ACCEPTED   action_msgs__msg__GoalStatus__STATUS_ACCEPTED

GOAL_STATE_EXECUTING

#define GOAL_STATE_EXECUTING   action_msgs__msg__GoalStatus__STATUS_EXECUTING

GOAL_STATE_CANCELING

#define GOAL_STATE_CANCELING   action_msgs__msg__GoalStatus__STATUS_CANCELING

GOAL_STATE_SUCCEEDED

#define GOAL_STATE_SUCCEEDED   action_msgs__msg__GoalStatus__STATUS_SUCCEEDED

GOAL_STATE_CANCELED

#define GOAL_STATE_CANCELED   action_msgs__msg__GoalStatus__STATUS_CANCELED

GOAL_STATE_ABORTED

#define GOAL_STATE_ABORTED   action_msgs__msg__GoalStatus__STATUS_ABORTED

GOAL_STATE_NUM_STATES

#define GOAL_STATE_NUM_STATES   7

Typedef Documentation

rcl_action_server_t

typedef struct rcl_action_server_t rcl_action_server_t

rcl_action_goal_info_t

typedef action_msgs__msg__GoalInfo rcl_action_goal_info_t

rcl_action_goal_status_t

typedef action_msgs__msg__GoalStatus rcl_action_goal_status_t

rcl_action_goal_status_array_t

typedef struct rcl_action_goal_status_array_t rcl_action_goal_status_array_t

rcl_action_cancel_request_t

typedef action_msgs__srv__CancelGoal_Request rcl_action_cancel_request_t

rcl_action_cancel_response_t

typedef struct rcl_action_cancel_response_t rcl_action_cancel_response_t

rcl_action_goal_state_t

typedef int8_t rcl_action_goal_state_t

Goal states.

rcl_action_goal_event_t

typedef enum rcl_action_goal_event_t rcl_action_goal_event_t

Goal state transition events.

Enumeration Type Documentation

rcl_action_goal_event_t

enum rcl_action_goal_event_t

Goal state transition events.

Enumerator
GOAL_EVENT_EXECUTE
GOAL_EVENT_CANCEL_GOAL
GOAL_EVENT_SUCCEED
GOAL_EVENT_ABORT
GOAL_EVENT_CANCELED
GOAL_EVENT_NUM_EVENTS

Function Documentation

rcl_action_get_zero_initialized_goal_info()

RCL_ACTION_PUBLIC rcl_action_goal_info_t rcl_action_get_zero_initialized_goal_info

(

void

)

Return a rcl_action_goal_info_t with members set to zero values.

rcl_action_get_zero_initialized_goal_status_array()

RCL_ACTION_PUBLIC rcl_action_goal_status_array_t rcl_action_get_zero_initialized_goal_status_array

(

void

)

Return a rcl_action_goal_status_array_t with members set to NULL.

Should be called to get a null rcl_action_goal_status_array_t before passing to rcl_action_server_get_goal_status_array().

rcl_action_get_zero_initialized_cancel_request()

RCL_ACTION_PUBLIC rcl_action_cancel_request_t rcl_action_get_zero_initialized_cancel_request

(

void

)

Return a rcl_action_cancel_request_t with members set to NULL.

Should be called to get a null rcl_action_cancel_request_t before passing to

rcl_action_cancel_request_init().

rcl_action_get_zero_initialized_cancel_response()

RCL_ACTION_PUBLIC rcl_action_cancel_response_t rcl_action_get_zero_initialized_cancel_response

(

void

)

Return a rcl_action_cancel_response_t with members set to NULL.

Should be called to get a null rcl_action_cancel_response_t before passing to rcl_action_cancel_response_init().

rcl_action_goal_status_array_init()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_goal_status_array_init	(	rcl_action_goal_status_array_t *	status_array,
		const size_t	num_status,
		const rcl_allocator_t	allocator
	)

Initialize a rcl_action_goal_status_array_t.

After calling this function on a rcl_action_goal_status_array_t, it can be populated and used to get and send status array messages with an action server using rcl_action_get_goal_status_array() and rcl_action_publish_status() respectively.

Example usage:

#include <rcl/rcl.h>
#include <rcl_action/rcl_action.h>

rcl_action_goal_status_array_t goal_status_array =
  rcl_action_get_zero_initialized_goal_status_array();
size_t num_status = 42;
ret = rcl_action_goal_status_array_init(
  &goal_status_array,
  num_status,
  rcl_get_default_allocator());
// ... error handling, and when done with message, finalize
ret = rcl_action_goal_status_array_fini(&goal_status_array, rcl_get_default_allocator());
// ... error handling

---

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

Parameters

[out]	status_array	a preallocated, zero-initialized, goal status array message to be initialized.
[in]	num_status	the number of status messages to allocate space for. Must be greater than zero
[in]	allocator	a valid allocator

Returns

RCL_RET_OK if cancel response was initialized successfully, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ALREADY_INIT if the status array has already been initialized, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_action_goal_status_array_fini()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_goal_status_array_fini

(

rcl_action_goal_status_array_t *

status_array

)

Finalize a rcl_action_goal_status_array_t.

After calling, the goal status array message will no longer be valid.

---

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

Parameters

[in,out]

status_array

the goal status array message to be deinitialized

Returns

RCL_RET_OK if the goal status array was deinitialized successfully, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_action_cancel_response_init()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_cancel_response_init	(	rcl_action_cancel_response_t *	cancel_response,
		const size_t	num_goals_canceling,
		const rcl_allocator_t	allocator
	)

Initialize a rcl_action_cancel_response_t.

After calling this function on a rcl_action_cancel_response_t, it can be populated and used to process cancel requests with an action server using rcl_action_process_cancel_request().

Example usage:

#include <rcl/rcl.h>
#include <rcl_action/rcl_action.h>

rcl_action_cancel_response_t cancel_response =
  rcl_action_get_zero_initialized_cancel_response();
size_t num_goals_canceling = 10;
ret = rcl_action_cancel_response_init(
  &cancel_response,
  num_goals_canceling,
  rcl_get_default_allocator());
// ... error handling, and when done processing response, finalize
ret = rcl_action_cancel_response_fini(&cancel_response, rcl_get_default_allocator());
// ... error handling

---

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

Parameters

[out]	cancel_response	a preallocated, zero-initialized, cancel response message to be initialized.
[in]	num_goals_canceling	the number of goals that are canceling to add to the response Must be greater than zero
[in]	allocator	a valid allocator

Returns

RCL_RET_OK if cancel response was initialized successfully, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ALREADY_INIT if the cancel response has already been initialized, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_action_cancel_response_fini()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_cancel_response_fini

(

rcl_action_cancel_response_t *

cancel_response

)

Finalize a rcl_action_cancel_response_t.

After calling, the cancel response message will no longer be valid.

---

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

Parameters

[in,out]

cancel_response

the cancel response message to be deinitialized

Returns

RCL_RET_OK if the cancel response was deinitialized successfully, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if an unspecified error occurs.

Variable Documentation

goal_state_descriptions

const char* goal_state_descriptions[]

User friendly error messages for invalid trasntions.

goal_event_descriptions

const char* goal_event_descriptions[]