goal_handle.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__GOAL_HANDLE_H_
#define RCL_ACTION__GOAL_HANDLE_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include "rcl_action/goal_state_machine.h"
#include "rcl_action/types.h"
#include "rcl_action/visibility_control.h"
#include "rcl/allocator.h"


struct rcl_action_goal_handle_impl_t;

typedef struct rcl_action_goal_handle_t
{
  struct rcl_action_goal_handle_impl_t * impl;
} rcl_action_goal_handle_t;


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_action_goal_handle_t
rcl_action_get_zero_initialized_goal_handle(void);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_goal_handle_init(
  rcl_action_goal_handle_t * goal_handle,
  const rcl_action_goal_info_t * goal_info,
  rcl_allocator_t allocator);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_goal_handle_fini(rcl_action_goal_handle_t * goal_handle);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_update_goal_state(
  rcl_action_goal_handle_t * goal_handle,
  const rcl_action_goal_event_t goal_event);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_goal_handle_get_info(
  const rcl_action_goal_handle_t * goal_handle,
  rcl_action_goal_info_t * goal_info);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_goal_handle_get_status(
  const rcl_action_goal_handle_t * goal_handle,
  rcl_action_goal_state_t * status);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_goal_handle_is_active(const rcl_action_goal_handle_t * goal_handle);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_goal_handle_is_cancelable(const rcl_action_goal_handle_t * goal_handle);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
bool
rcl_action_goal_handle_is_valid(const rcl_action_goal_handle_t * goal_handle);

#ifdef __cplusplus
}
#endif

#endif  // RCL_ACTION__GOAL_HANDLE_H_