[rcl action] Action client first implementation.
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3 changed files with 740 additions and 8 deletions
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@ -176,7 +176,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_client_init(
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rcl_action_client_t * action_client,
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const rcl_node_t * node,
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rcl_node_t * node,
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const rosidl_action_type_support_t * type_support,
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const char * action_name,
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const rcl_action_client_options_t * options);
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@ -355,9 +355,7 @@ rcl_action_take_goal_response(
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* Lock-Free | Yes
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* <i>[1] only if required when filling the feedback message, avoided for fixed sizes</i>
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*
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* \param[in] action_client handle to the client that will take the goal response
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* \param[out] goal_info pointer to a struct for meta-data about the goal associated
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* with taken feedback
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* \param[in] action_client handle to the client that will take action feedback
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* \param[out] ros_feedback pointer to the ROS feedback message.
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* \return `RCL_RET_OK` if the response was taken successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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@ -420,6 +418,7 @@ rcl_action_take_status(
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const rcl_action_client_t * action_client,
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void * ros_status_array);
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/// Send a request for the result of a completed goal associated with a rcl_action_client_t.
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/**
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* This is a non-blocking call.
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@ -661,7 +660,7 @@ RCL_WARN_UNUSED
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const rcl_action_client_options_t *
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rcl_action_client_get_options(const rcl_action_client_t * action_client);
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/// Check that a rcl_action_clieint_t is valid.
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/// Check that a rcl_action_client_t is valid.
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/**
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* The bool returned is `false` if `action_client` is invalid.
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* The bool returned is `true` otherwise.
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@ -677,14 +676,12 @@ rcl_action_client_get_options(const rcl_action_client_t * action_client);
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* Lock-Free | Yes
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*
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* \param[in] action_client pointer to the rcl action client
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* \param[in] error_msg_allocator a valid allocator or `NULL`
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* \return `true` if `action_client` is valid, otherwise `false`
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*/
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RCL_ACTION_PUBLIC
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bool
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rcl_action_client_is_valid(
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const rcl_action_client_t * action_client,
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rcl_allocator_t * error_msg_allocator);
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const rcl_action_client_t * action_client);
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#ifdef __cplusplus
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}
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