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rcl_action_expire_goals() outputs goals that expire (#342)

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* rcl_action_expire_goals() outputs goals that expire
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Shane Loretz 2018-11-28 19:10:06 -08:00 • committed by GitHub
parent fbd2b08937
commit b2694dfb3d
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3 changed files with 58 additions and 10 deletions
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13
rcl_action/include/rcl_action/action_server.h
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@ -583,8 +583,12 @@ rcl_action_send_result_response(
* \attention If one or more goals are expired then a previously returned goal handle
* array from rcl_action_server_get_goal_handles() becomes invalid.
*
* `num_expired` is an optional argument. If it is not `NULL`, then it is set to the
* number of goals that were expired.
* `expired_goals`, `expired_goals_capacity` and `num_expired` are optional arguments.
* If set to (`NULL`, 0u, `NULL`) then they are not used.
* To use them allocate an array with size equal to the maximum number of goals that you want to
* expire.
* Pass the number of goals the array can hold in as `expired_goals_capacity`.
* This function will set `num_expired` to the number of goals that were expired.
*
* <hr>
* Attribute | Adherence
@ -598,6 +602,9 @@ rcl_action_send_result_response(
*
* \param[in] action_server handle to the action server from which expired goals
* will be cleared.
* \param[in] expired_goals_allocator allocator to use to allocate expired_goals output
* \param[inout] expired_goals the identifiers of goals that expired, or set to `NULL` if unused
* \param[inout] expired_goals_capacity the allocated size of `expired_goals`, or 0 if unused
* \param[out] num_expired the number of expired goals, or set to `NULL` if unused
* \return `RCL_RET_OK` if the response was sent successfully, or
* \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
@ -610,6 +617,8 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_expire_goals(
const rcl_action_server_t * action_server,
rcl_action_goal_info_t * expired_goals,
size_t expired_goals_capacity,
size_t * num_expired);
/// Take a pending cancel request using an action server.