15 #ifndef RCL_ACTION__ACTION_SERVER_H_
16 #define RCL_ACTION__ACTION_SERVER_H_
23 #include "rcl_action/goal_handle.h"
24 #include "rcl_action/types.h"
25 #include "rcl_action/visibility_control.h"
26 #include "rcl/macros.h"
30 #include "rosidl_runtime_c/action_type_support_struct.h"
33 struct rcl_action_server_impl_t;
39 struct rcl_action_server_impl_t *
impl;
71 rcl_action_get_zero_initialized_server(
void);
177 rcl_action_server_init(
181 const rosidl_action_type_support_t * type_support,
182 const char * action_name,
232 rcl_action_server_get_default_options(
void);
279 rcl_action_take_goal_request(
282 void * ros_goal_request);
327 rcl_action_send_goal_response(
330 void * ros_goal_response);
391 rcl_action_accept_new_goal(
393 const rcl_action_goal_info_t * goal_info);
439 rcl_action_publish_feedback(
441 void * ros_feedback);
466 rcl_action_get_goal_status_array(
496 rcl_action_publish_status(
498 const void * status_message);
535 rcl_action_take_result_request(
538 void * ros_result_request);
571 rcl_action_send_result_response(
574 void * ros_result_response);
623 rcl_action_expire_goals(
625 rcl_action_goal_info_t * expired_goals,
626 size_t expired_goals_capacity,
627 size_t * num_expired);
648 rcl_action_notify_goal_done(
689 rcl_action_take_cancel_request(
692 void * ros_cancel_request);
732 rcl_action_process_cancel_request(
734 const rcl_action_cancel_request_t * cancel_request,
760 rcl_action_send_cancel_response(
763 void * ros_cancel_response);
855 rcl_action_server_get_goal_handles(
881 rcl_action_server_goal_exists(
883 const rcl_action_goal_info_t * goal_info);
937 #endif // RCL_ACTION__ACTION_SERVER_H_