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add wait_for_action_server() for action clients (#349)

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Signed-off-by: William Woodall <william@osrfoundation.org>
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William Woodall 2018-12-06 18:57:17 -08:00 • committed by Shane Loretz
parent 228cd0082c
commit 0518125724
2 changed files with 93 additions and 0 deletions
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44
rcl_action/include/rcl_action/action_client.h
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@ -229,6 +229,50 @@ RCL_WARN_UNUSED
rcl_action_client_options_t
rcl_action_client_get_default_options(void);
/// Check if an action server is available for the given action client.
/**
* This function will return true for is_available if there is an action server
* available for the given action client.
*
* The node parameter must not be `NULL`, and must point to a valid node.
*
* The client parameter must not be `NULL`, and must point to a valid client.
*
* The given client and node must match, i.e. the client must have been created
* using the given node.
*
* The is_available parameter must not be `NULL`, and must point a bool variable.
* The result of the check will be stored in the is_available parameter.
*
* In the event that error handling needs to allocate memory, this function
* will try to use the node's allocator.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | No
* Lock-Free | Maybe [1]
* <i>[1] implementation may need to protect the data structure with a lock</i>
*
* \param[in] node the handle to the node being used to query the ROS graph
* \param[in] client the handle to the action client being queried
* \param[out] is_available set to true if there is an action server available, else false
* \return `RCL_RET_OK` if successful (regardless of the action server availability), or
* \return `RCL_RET_NODE_INVALID` if the node is invalid, or
* \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ERROR` if an unspecified error occurs.
*/
RCL_ACTION_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_action_server_is_available(
const rcl_node_t * node,
const rcl_action_client_t * client,
bool * is_available);
/// Send a ROS goal using a rcl_action_client_t.
/**
* This is a non-blocking call.