wait.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__WAIT_H_
#define RCL_ACTION__WAIT_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include "rcl_action/action_client.h"
#include "rcl_action/action_server.h"
#include "rcl_action/visibility_control.h"
#include "rcl/wait.h"


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_wait_set_add_action_client(
  rcl_wait_set_t * wait_set,
  const rcl_action_client_t * action_client,
  size_t * client_index,
  size_t * subscription_index);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_wait_set_add_action_server(
  rcl_wait_set_t * wait_set,
  const rcl_action_server_t * action_server,
  size_t * service_index);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_client_wait_set_get_num_entities(
  const rcl_action_client_t * action_client,
  size_t * num_subscriptions,
  size_t * num_guard_conditions,
  size_t * num_timers,
  size_t * num_clients,
  size_t * num_services);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_server_wait_set_get_num_entities(
  const rcl_action_server_t * action_server,
  size_t * num_subscriptions,
  size_t * num_guard_conditions,
  size_t * num_timers,
  size_t * num_clients,
  size_t * num_services);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_client_wait_set_get_entities_ready(
  const rcl_wait_set_t * wait_set,
  const rcl_action_client_t * action_client,
  bool * is_feedback_ready,
  bool * is_status_ready,
  bool * is_goal_response_ready,
  bool * is_cancel_response_ready,
  bool * is_result_response_ready);


RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_server_wait_set_get_entities_ready(
  const rcl_wait_set_t * wait_set,
  const rcl_action_server_t * action_server,
  bool * is_goal_request_ready,
  bool * is_cancel_request_ready,
  bool * is_result_request_ready,
  bool * is_goal_expired);

#ifdef __cplusplus
}
#endif

#endif  // RCL_ACTION__WAIT_H_