action_server.h

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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// 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 RCL_ACTION__ACTION_SERVER_H_
#define RCL_ACTION__ACTION_SERVER_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include "rcl_action/goal_handle.h"
#include "rcl_action/types.h"
#include "rcl_action/visibility_control.h"
#include "rcl/macros.h"
#include "rcl/node.h"
#include "rcl/time.h"

#include "rosidl_generator_c/action_type_support_struct.h"

struct rcl_action_server_impl_t;

typedef struct rcl_action_server_t
{
  struct rcl_action_server_impl_t * impl;
} rcl_action_server_t;

typedef struct rcl_action_server_options_t
{
  rmw_qos_profile_t goal_service_qos;
  rmw_qos_profile_t cancel_service_qos;
  rmw_qos_profile_t result_service_qos;
  rmw_qos_profile_t feedback_topic_qos;
  rmw_qos_profile_t status_topic_qos;

  rcl_allocator_t allocator;
  rcl_duration_t result_timeout;
} rcl_action_server_options_t;


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_action_server_t
rcl_action_get_zero_initialized_server(void);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_server_init(
  rcl_action_server_t * action_server,
  rcl_node_t * node,
  rcl_clock_t * clock,
  const rosidl_action_type_support_t * type_support,
  const char * action_name,
  const rcl_action_server_options_t * options);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_action_server_options_t
rcl_action_server_get_default_options(void);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_take_goal_request(
  const rcl_action_server_t * action_server,
  rmw_request_id_t * request_header,
  void * ros_goal_request);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_send_goal_response(
  const rcl_action_server_t * action_server,
  rmw_request_id_t * response_header,
  void * ros_goal_response);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_action_goal_handle_t *
rcl_action_accept_new_goal(
  rcl_action_server_t * action_server,
  const rcl_action_goal_info_t * goal_info);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_publish_feedback(
  const rcl_action_server_t * action_server,
  void * ros_feedback);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_get_goal_status_array(
  const rcl_action_server_t * action_server,
  rcl_action_goal_status_array_t * status_message);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_publish_status(
  const rcl_action_server_t * action_server,
  const void * status_message);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_take_result_request(
  const rcl_action_server_t * action_server,
  rmw_request_id_t * request_header,
  void * ros_result_request);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_send_result_response(
  const rcl_action_server_t * action_server,
  rmw_request_id_t * response_header,
  void * ros_result_response);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_expire_goals(
  const rcl_action_server_t * action_server,
  rcl_action_goal_info_t * expired_goals,
  size_t expired_goals_capacity,
  size_t * num_expired);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_notify_goal_done(
  const rcl_action_server_t * action_server);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_take_cancel_request(
  const rcl_action_server_t * action_server,
  rmw_request_id_t * request_header,
  void * ros_cancel_request);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_process_cancel_request(
  const rcl_action_server_t * action_server,
  const rcl_action_cancel_request_t * cancel_request,
  rcl_action_cancel_response_t * cancel_response);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_send_cancel_response(
  const rcl_action_server_t * action_server,
  rmw_request_id_t * response_header,
  void * ros_cancel_response);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_action_server_get_action_name(const rcl_action_server_t * action_server);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
const rcl_action_server_options_t *
rcl_action_server_get_options(const rcl_action_server_t * action_server);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_server_get_goal_handles(
  const rcl_action_server_t * action_server,
  rcl_action_goal_handle_t *** goal_handles,
  size_t * num_goals);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_server_goal_exists(
  const rcl_action_server_t * action_server,
  const rcl_action_goal_info_t * goal_info);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_server_is_valid(const rcl_action_server_t * action_server);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_server_is_valid_except_context(const rcl_action_server_t * action_server);

#ifdef __cplusplus
}
#endif

#endif  // RCL_ACTION__ACTION_SERVER_H_