#include <server.hpp>

Inheritance diagram for rclcpp_action::ServerBase:

Collaboration diagram for rclcpp_action::ServerBase:

Public Member Functions
virtual RCLCPP_ACTION_PUBLIC	~ServerBase ()

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_subscriptions () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_timers () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_clients () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_services () override

RCLCPP_ACTION_PUBLIC size_t	get_number_of_ready_guard_conditions () override

RCLCPP_ACTION_PUBLIC bool	add_to_wait_set (rcl_wait_set_t *wait_set) override

RCLCPP_ACTION_PUBLIC bool	is_ready (rcl_wait_set_t *) override

RCLCPP_ACTION_PUBLIC std::shared_ptr< void >	take_data () override

RCLCPP_ACTION_PUBLIC void	execute (std::shared_ptr< void > &data) override

Public Member Functions inherited from rclcpp::Waitable
virtual	~Waitable ()=default

virtual size_t	get_number_of_ready_events ()

bool	exchange_in_use_by_wait_set_state (bool in_use_state)

Protected Member Functions
RCLCPP_ACTION_PUBLIC	ServerBase (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base, rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging, const std::string &name, const rosidl_action_type_support_t *type_support, const rcl_action_server_options_t &options)

virtual RCLCPP_ACTION_PUBLIC std::pair< GoalResponse, std::shared_ptr< void > >	call_handle_goal_callback (GoalUUID &, std::shared_ptr< void > request)=0

virtual RCLCPP_ACTION_PUBLIC CancelResponse	call_handle_cancel_callback (const GoalUUID &uuid)=0

virtual RCLCPP_ACTION_PUBLIC GoalUUID	get_goal_id_from_goal_request (void *message)=0

virtual RCLCPP_ACTION_PUBLIC std::shared_ptr< void >	create_goal_request ()=0

virtual RCLCPP_ACTION_PUBLIC void	call_goal_accepted_callback (std::shared_ptr< rcl_action_goal_handle_t > rcl_goal_handle, GoalUUID uuid, std::shared_ptr< void > goal_request_message)=0

virtual RCLCPP_ACTION_PUBLIC GoalUUID	get_goal_id_from_result_request (void *message)=0

virtual RCLCPP_ACTION_PUBLIC std::shared_ptr< void >	create_result_request ()=0

virtual RCLCPP_ACTION_PUBLIC std::shared_ptr< void >	create_result_response (decltype(action_msgs::msg::GoalStatus::status) status)=0

RCLCPP_ACTION_PUBLIC void	publish_status ()

RCLCPP_ACTION_PUBLIC void	notify_goal_terminal_state ()

RCLCPP_ACTION_PUBLIC void	publish_result (const GoalUUID &uuid, std::shared_ptr< void > result_msg)

RCLCPP_ACTION_PUBLIC void	publish_feedback (std::shared_ptr< void > feedback_msg)

Detailed Description

Base Action Server implementation This class should not be used directly by users writing an action server. Instead users should use rclcpp_action::Server.

Internally, this class is responsible for interfacing with the rcl_action API.

Constructor & Destructor Documentation

◆ ~ServerBase()

virtual RCLCPP_ACTION_PUBLIC rclcpp_action::ServerBase::~ServerBase ( )

virtual

◆ ServerBase()

RCLCPP_ACTION_PUBLIC rclcpp_action::ServerBase::ServerBase	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_base,
		rclcpp::node_interfaces::NodeClockInterface::SharedPtr	node_clock,
		rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging,
		const std::string &	name,
		const rosidl_action_type_support_t *	type_support,
		const rcl_action_server_options_t &	options
	)

protected

Member Function Documentation

◆ get_number_of_ready_subscriptions()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ServerBase::get_number_of_ready_subscriptions ( )

overridevirtual

Return the number of subscriptions used to implement an action server

Reimplemented from rclcpp::Waitable.

◆ get_number_of_ready_timers()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ServerBase::get_number_of_ready_timers ( )

overridevirtual

Return the number of timers used to implement an action server

Reimplemented from rclcpp::Waitable.

◆ get_number_of_ready_clients()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ServerBase::get_number_of_ready_clients ( )

overridevirtual

Return the number of service clients used to implement an action server

Reimplemented from rclcpp::Waitable.

◆ get_number_of_ready_services()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ServerBase::get_number_of_ready_services ( )

overridevirtual

Return the number of service servers used to implement an action server

Reimplemented from rclcpp::Waitable.

◆ get_number_of_ready_guard_conditions()

RCLCPP_ACTION_PUBLIC size_t rclcpp_action::ServerBase::get_number_of_ready_guard_conditions ( )

overridevirtual

Return the number of guard conditions used to implement an action server

Reimplemented from rclcpp::Waitable.

◆ add_to_wait_set()

RCLCPP_ACTION_PUBLIC bool rclcpp_action::ServerBase::add_to_wait_set ( rcl_wait_set_t * wait_set )

overridevirtual

Add all entities to a wait set.

Implements rclcpp::Waitable.

◆ is_ready()

RCLCPP_ACTION_PUBLIC bool rclcpp_action::ServerBase::is_ready ( rcl_wait_set_t * )

overridevirtual

Return true if any entity belonging to the action server is ready to be executed.

Implements rclcpp::Waitable.

◆ take_data()

RCLCPP_ACTION_PUBLIC std::shared_ptr<void> rclcpp_action::ServerBase::take_data ( )

overridevirtual

Implements rclcpp::Waitable.

◆ execute()

RCLCPP_ACTION_PUBLIC void rclcpp_action::ServerBase::execute ( std::shared_ptr< void > & data )

overridevirtual

Act on entities in the wait set which are ready to be acted upon.

Implements rclcpp::Waitable.

◆ call_handle_goal_callback()

virtual RCLCPP_ACTION_PUBLIC std::pair<GoalResponse, std::shared_ptr<void> > rclcpp_action::ServerBase::call_handle_goal_callback	(	GoalUUID &	,
		std::shared_ptr< void >	request
	)

protectedpure virtual

Implemented in rclcpp_action::Server< ActionT >.

◆ call_handle_cancel_callback()

virtual RCLCPP_ACTION_PUBLIC CancelResponse rclcpp_action::ServerBase::call_handle_cancel_callback ( const GoalUUID & uuid )

protectedpure virtual

Implemented in rclcpp_action::Server< ActionT >.

◆ get_goal_id_from_goal_request()

virtual RCLCPP_ACTION_PUBLIC GoalUUID rclcpp_action::ServerBase::get_goal_id_from_goal_request ( void * message )

protectedpure virtual

Given a goal request message, return the UUID contained within.

Implemented in rclcpp_action::Server< ActionT >.

◆ create_goal_request()

virtual RCLCPP_ACTION_PUBLIC std::shared_ptr<void> rclcpp_action::ServerBase::create_goal_request ( )

protectedpure virtual

Create an empty goal request message so it can be taken from a lower layer.

Implemented in rclcpp_action::Server< ActionT >.

◆ call_goal_accepted_callback()

virtual RCLCPP_ACTION_PUBLIC void rclcpp_action::ServerBase::call_goal_accepted_callback	(	std::shared_ptr< rcl_action_goal_handle_t >	rcl_goal_handle,
		GoalUUID	uuid,
		std::shared_ptr< void >	goal_request_message
	)

protectedpure virtual

Call user callback to inform them a goal has been accepted.

Implemented in rclcpp_action::Server< ActionT >.

◆ get_goal_id_from_result_request()

virtual RCLCPP_ACTION_PUBLIC GoalUUID rclcpp_action::ServerBase::get_goal_id_from_result_request ( void * message )

protectedpure virtual

Given a result request message, return the UUID contained within.

Implemented in rclcpp_action::Server< ActionT >.

◆ create_result_request()

virtual RCLCPP_ACTION_PUBLIC std::shared_ptr<void> rclcpp_action::ServerBase::create_result_request ( )

protectedpure virtual

Create an empty goal request message so it can be taken from a lower layer.

Implemented in rclcpp_action::Server< ActionT >.

◆ create_result_response()

virtual RCLCPP_ACTION_PUBLIC std::shared_ptr<void> rclcpp_action::ServerBase::create_result_response ( decltype(action_msgs::msg::GoalStatus::status) status )

protectedpure virtual

Create an empty goal result message so it can be sent as a reply in a lower layer

Implemented in rclcpp_action::Server< ActionT >.

◆ publish_status()

RCLCPP_ACTION_PUBLIC void rclcpp_action::ServerBase::publish_status ( )

protected

◆ notify_goal_terminal_state()

RCLCPP_ACTION_PUBLIC void rclcpp_action::ServerBase::notify_goal_terminal_state ( )

protected

◆ publish_result()

RCLCPP_ACTION_PUBLIC void rclcpp_action::ServerBase::publish_result	(	const GoalUUID &	uuid,
		std::shared_ptr< void >	result_msg
	)

protected

◆ publish_feedback()

RCLCPP_ACTION_PUBLIC void rclcpp_action::ServerBase::publish_feedback ( std::shared_ptr< void > feedback_msg )

protected

The documentation for this class was generated from the following file:

include/rclcpp_action/server.hpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ServerBase()

◆ ServerBase()

Member Function Documentation

◆ get_number_of_ready_subscriptions()

◆ get_number_of_ready_timers()

◆ get_number_of_ready_clients()

◆ get_number_of_ready_services()

◆ get_number_of_ready_guard_conditions()

◆ add_to_wait_set()

◆ is_ready()

◆ take_data()

◆ execute()

◆ call_handle_goal_callback()

◆ call_handle_cancel_callback()

◆ get_goal_id_from_goal_request()

◆ create_goal_request()

◆ call_goal_accepted_callback()

◆ get_goal_id_from_result_request()

◆ create_result_request()

◆ create_result_response()

◆ publish_status()

◆ notify_goal_terminal_state()

◆ publish_result()

◆ publish_feedback()