#include <server.hpp>

Inheritance diagram for rclcpp_action::Server< ActionT >:

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Collaboration diagram for rclcpp_action::Server< ActionT >:

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Public Types
using	GoalCallback = std::function< GoalResponse(const GoalUUID &, std::shared_ptr< const typename ActionT::Goal >)>
	Signature of a callback that accepts or rejects goal requests. More...

using	CancelCallback = std::function< CancelResponse(std::shared_ptr< ServerGoalHandle< ActionT > >)>
	Signature of a callback that accepts or rejects requests to cancel a goal. More...

using	AcceptedCallback = std::function< void(std::shared_ptr< ServerGoalHandle< ActionT > >)>
	Signature of a callback that is used to notify when the goal has been accepted. More...

Public Member Functions
	Server (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 rcl_action_server_options_t &options, GoalCallback handle_goal, CancelCallback handle_cancel, AcceptedCallback handle_accepted)
	Construct an action server. More...

virtual	~Server ()=default

Public Member Functions inherited from rclcpp_action::ServerBase
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 void	execute () 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)

Public Member Functions inherited from std::enable_shared_from_this< Server< ActionT > >
T	enable_shared_from_this (T... args)

T	operator= (T... args)

T	shared_from_this (T... args)

T	~enable_shared_from_this (T... args)

Protected Member Functions
std::pair< GoalResponse, std::shared_ptr< void > >	call_handle_goal_callback (GoalUUID &uuid, std::shared_ptr< void > message) override

CancelResponse	call_handle_cancel_callback (const GoalUUID &uuid) override

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) override

GoalUUID	get_goal_id_from_goal_request (void *message) override

std::shared_ptr< void >	create_goal_request () override

GoalUUID	get_goal_id_from_result_request (void *message) override

std::shared_ptr< void >	create_result_request () override

std::shared_ptr< void >	create_result_response (decltype(action_msgs::msg::GoalStatus::status) status) override

Protected Member Functions inherited from rclcpp_action::ServerBase
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)

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

template<typename ActionT>
class rclcpp_action::Server< ActionT >

Action Server.

This class creates an action server.

Create an instance of this server using rclcpp_action::create_server().

Internally, this class is responsible for:

coverting between the C++ action type and generic types for rclcpp_action::ServerBase, and
calling user callbacks.

Member Typedef Documentation

◆ GoalCallback

template<typename ActionT >

using rclcpp_action::Server< ActionT >::GoalCallback = std::function<GoalResponse( const GoalUUID &, std::shared_ptr<const typename ActionT::Goal>)>

Signature of a callback that accepts or rejects goal requests.

◆ CancelCallback

template<typename ActionT >

using rclcpp_action::Server< ActionT >::CancelCallback = std::function<CancelResponse(std::shared_ptr<ServerGoalHandle<ActionT> >)>

Signature of a callback that accepts or rejects requests to cancel a goal.

◆ AcceptedCallback

template<typename ActionT >

using rclcpp_action::Server< ActionT >::AcceptedCallback = std::function<void (std::shared_ptr<ServerGoalHandle<ActionT> >)>

Signature of a callback that is used to notify when the goal has been accepted.

Constructor & Destructor Documentation

◆ Server()

template<typename ActionT >

rclcpp_action::Server< ActionT >::Server	(	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 rcl_action_server_options_t &	options,
		GoalCallback	handle_goal,
		CancelCallback	handle_cancel,
		AcceptedCallback	handle_accepted
	)

inline

Construct an action server.

This constructs an action server, but it will not work until it has been added to a node. Use rclcpp_action::create_server() to both construct and add to a node.

Three callbacks must be provided:

one to accept or reject goals sent to the server,
one to accept or reject requests to cancel a goal,
one to receive a goal handle after a goal has been accepted. All callbacks must be non-blocking. The result of a goal should be set using methods on rclcpp_action::ServerGoalHandle.

Parameters

[in]	node_base	a pointer to the base interface of a node.
[in]	node_clock	a pointer to an interface that allows getting a node's clock.
[in]	node_logging	a pointer to an interface that allows getting a node's logger.
[in]	name	the name of an action. The same name and type must be used by both the action client and action server to communicate.
[in]	options	options to pass to the underlying `rcl_action_server_t`.
[in]	handle_goal	a callback that decides if a goal should be accepted or rejected.
[in]	handle_cancel	a callback that decides if a goal should be attemted to be canceled. The return from this callback only indicates if the server will try to cancel a goal. It does not indicate if the goal was actually canceled.
[in]	handle_accepted	a callback that is called to give the user a handle to the goal. execution.

◆ ~Server()

template<typename ActionT >

virtual rclcpp_action::Server< ActionT >::~Server ( )

virtualdefault