[rcl action] Exposes sequence numbers for all requests and responses. (#339)
This commit is contained in:
Michel Hidalgo
Shane Loretz
parent
f39ac3cbe7
commit
f531f682ea
5 changed files with 130 additions and 58 deletions
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@ -264,6 +264,7 @@ rcl_action_client_get_default_options(void);
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*
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* \param[in] action_client handle to the client that will make the goal request
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* \param[in] ros_goal_request pointer to the ROS goal message
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* \param[out] sequence_number pointer to the goal request sequence number
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* \return `RCL_RET_OK` if the request was sent successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_ACTION_CLIENT_INVALID` if the client is invalid, or
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@ -274,7 +275,8 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_send_goal_request(
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const rcl_action_client_t * action_client,
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const void * ros_goal_request);
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const void * ros_goal_request,
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int64_t * sequence_number);
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/// Take a response for a goal request from an action server using a rcl_action_client_t.
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/**
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@ -306,6 +308,7 @@ rcl_action_send_goal_request(
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* Lock-Free | Yes
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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] response_header pointer to the goal response header
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* \param[out] ros_goal_response pointer to the response of a goal request
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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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@ -319,6 +322,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_take_goal_response(
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const rcl_action_client_t * action_client,
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rmw_request_id_t * response_header,
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void * ros_goal_response);
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/// Take a ROS feedback message for an active goal associated with a rcl_action_client_t.
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@ -450,6 +454,7 @@ rcl_action_take_status(
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* \param[in] action_client handle to the client that will send the result request
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* \param[in] ros_result_request pointer to a ROS result request message
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* \param[out] sequence_number pointer to the result request sequence number
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* \return `RCL_RET_OK` if the request was sent successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
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@ -460,7 +465,8 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_send_result_request(
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const rcl_action_client_t * action_client,
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const void * ros_result_request);
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const void * ros_result_request,
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int64_t * sequence_number);
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/// Take a ROS result message for a completed goal associated with a rcl_action_client_t.
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/**
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@ -497,6 +503,7 @@ rcl_action_send_result_request(
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* <i>[1] only if required when filling the result response 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 result response
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* \param[out] response_header pointer to the result response header
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* \param[out] ros_result_response preallocated, zero-initialized, struct where the ROS
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* result message is copied.
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* \return `RCL_RET_OK` if the response was taken successfully, or
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@ -512,6 +519,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_take_result_response(
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const rcl_action_client_t * action_client,
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rmw_request_id_t * response_header,
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void * ros_result);
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/// Send a cancel request for a goal using a rcl_action_client_t.
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@ -544,6 +552,7 @@ rcl_action_take_result_response(
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*
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* \param[in] action_client handle to the client that will make the cancel request
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* \param[in] ros_cancel_request pointer the ROS cancel request message
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* \param[out] sequence_number pointer to the cancel request sequence number
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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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* \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
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@ -554,7 +563,8 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_send_cancel_request(
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const rcl_action_client_t * action_client,
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const void * ros_cancel_request);
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const void * ros_cancel_request,
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int64_t * sequence_number);
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/// Take a cancel response using a rcl_action_client_t.
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/**
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@ -585,6 +595,7 @@ rcl_action_send_cancel_request(
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* Lock-Free | Yes
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*
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* \param[in] action_client handle to the client that will take the cancel response
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* \param[out] request_header pointer to the cancel response header
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* \param[out] ros_cancel_response a zero-initialized ROS cancel response message where
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* the cancel response is copied.
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* \return `RCL_RET_OK` if the response was taken successfully, or
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@ -600,6 +611,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_take_cancel_response(
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const rcl_action_client_t * action_client,
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rmw_request_id_t * response_header,
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void * ros_cancel_response);
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/// Get the name of the action for a rcl_action_client_t.
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@ -258,6 +258,7 @@ rcl_action_server_get_default_options(void);
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* <i>[1] only if required when filling the request, avoided for fixed sizes</i>
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*
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* \param[in] action_server handle to the action server that will take the request
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* \param[out] request_header pointer to the goal request header
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* \param[out] ros_goal_request a preallocated, zero-initialized, ROS goal request message
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* where the request is copied
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* \return `RCL_RET_OK` if the request was taken, or
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@ -273,6 +274,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_take_goal_request(
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const rcl_action_server_t * action_server,
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rmw_request_id_t * request_header,
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void * ros_goal_request);
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/// Send a response for a goal request to an action client using an action server.
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@ -308,6 +310,7 @@ rcl_action_take_goal_request(
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* <i>[1] for unique pairs of action servers and responses, see above for more</i>
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*
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* \param[in] action_server handle to the action server that will make the goal response
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* \param[in] response_header pointer to the goal response header
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* \param[in] ros_goal_response a ROS goal response message to send
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* \return `RCL_RET_OK` if the response was sent successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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@ -319,6 +322,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_send_goal_response(
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const rcl_action_server_t * action_server,
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rmw_request_id_t * response_header,
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void * ros_goal_response);
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/// Accept a new goal using an action server.
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@ -509,6 +513,7 @@ rcl_action_publish_status(
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* Lock-Free | Yes
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*
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* \param[in] action_server handle to the action server that will take the result request
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* \param[out] request_header pointer to the result request header
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* \param[out] ros_result_request a preallocated ROS result request message where the
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* request is copied.
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* \return `RCL_RET_OK` if the response was sent successfully, or
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@ -523,6 +528,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_take_result_request(
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const rcl_action_server_t * action_server,
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rmw_request_id_t * request_header,
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void * ros_result_request);
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/// Send a result response using an action server.
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@ -546,6 +552,7 @@ rcl_action_take_result_request(
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* Lock-Free | Yes
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*
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* \param[in] action_server handle to the action server that will send the result response
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* \param[in] response_header pointer to the result response header
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* \param[in] ros_result_response a ROS result response message to send
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* \return `RCL_RET_OK` if the response was sent successfully, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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@ -557,6 +564,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_send_result_response(
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const rcl_action_server_t * action_server,
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rmw_request_id_t * response_header,
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void * ros_result_response);
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/// Expires goals associated with an action server.
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@ -629,6 +637,7 @@ rcl_action_expire_goals(
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* Lock-Free | Yes
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*
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* \param[in] action_server handle to the action server that will take the cancel request
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* \param[out] request_header pointer to the cancel request header
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* \param[out] ros_cancel_request a preallocated ROS cancel request where the request
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* message is copied
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* \return `RCL_RET_OK` if the response was sent successfully, or
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@ -643,6 +652,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_take_cancel_request(
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const rcl_action_server_t * action_server,
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rmw_request_id_t * request_header,
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void * ros_cancel_request);
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/// Process a cancel request using an action server.
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@ -702,6 +712,7 @@ rcl_action_process_cancel_request(
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* Lock-Free | Yes
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*
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* \param[in] action_server handle to the action server that will send the cancel response
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* \param[in] response_header pointer to the cancel response header
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* \param[in] ros_cancel_response a ROS cancel response to send
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* \return `RCL_RET_OK` if the request was taken, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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@ -713,6 +724,7 @@ RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_send_cancel_response(
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const rcl_action_server_t * action_server,
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rmw_request_id_t * response_header,
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void * ros_cancel_response);
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/// Get the action name for an action server.
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