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[rcl action] Exposes sequence numbers for all requests and responses. (#339)

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Michel Hidalgo 2018-11-21 21:50:03 -03:00 • committed by Shane Loretz
parent f39ac3cbe7
commit f531f682ea
5 changed files with 130 additions and 58 deletions
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12
rcl_action/include/rcl_action/action_server.h
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@ -258,6 +258,7 @@ rcl_action_server_get_default_options(void);
* <i>[1] only if required when filling the request, avoided for fixed sizes</i>
*
* \param[in] action_server handle to the action server that will take the request
* \param[out] request_header pointer to the goal request header
* \param[out] ros_goal_request a preallocated, zero-initialized, ROS goal request message
* where the request is copied
* \return `RCL_RET_OK` if the request was taken, or
@ -273,6 +274,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_take_goal_request(
const rcl_action_server_t * action_server,
rmw_request_id_t * request_header,
void * ros_goal_request);
/// Send a response for a goal request to an action client using an action server.
@ -308,6 +310,7 @@ rcl_action_take_goal_request(
* <i>[1] for unique pairs of action servers and responses, see above for more</i>
*
* \param[in] action_server handle to the action server that will make the goal response
* \param[in] response_header pointer to the goal response header
* \param[in] ros_goal_response a ROS goal response message to send
* \return `RCL_RET_OK` if the response was sent successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@ -319,6 +322,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_send_goal_response(
const rcl_action_server_t * action_server,
rmw_request_id_t * response_header,
void * ros_goal_response);
/// Accept a new goal using an action server.
@ -509,6 +513,7 @@ rcl_action_publish_status(
* Lock-Free | Yes
*
* \param[in] action_server handle to the action server that will take the result request
* \param[out] request_header pointer to the result request header
* \param[out] ros_result_request a preallocated ROS result request message where the
* request is copied.
* \return `RCL_RET_OK` if the response was sent successfully, or
@ -523,6 +528,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_take_result_request(
const rcl_action_server_t * action_server,
rmw_request_id_t * request_header,
void * ros_result_request);
/// Send a result response using an action server.
@ -546,6 +552,7 @@ rcl_action_take_result_request(
* Lock-Free | Yes
*
* \param[in] action_server handle to the action server that will send the result response
* \param[in] response_header pointer to the result response header
* \param[in] ros_result_response a ROS result response message to send
* \return `RCL_RET_OK` if the response was sent successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@ -557,6 +564,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_send_result_response(
const rcl_action_server_t * action_server,
rmw_request_id_t * response_header,
void * ros_result_response);
/// Expires goals associated with an action server.
@ -629,6 +637,7 @@ rcl_action_expire_goals(
* Lock-Free | Yes
*
* \param[in] action_server handle to the action server that will take the cancel request
* \param[out] request_header pointer to the cancel request header
* \param[out] ros_cancel_request a preallocated ROS cancel request where the request
* message is copied
* \return `RCL_RET_OK` if the response was sent successfully, or
@ -643,6 +652,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_take_cancel_request(
const rcl_action_server_t * action_server,
rmw_request_id_t * request_header,
void * ros_cancel_request);
/// Process a cancel request using an action server.
@ -702,6 +712,7 @@ rcl_action_process_cancel_request(
* Lock-Free | Yes
*
* \param[in] action_server handle to the action server that will send the cancel response
* \param[in] response_header pointer to the cancel response header
* \param[in] ros_cancel_response a ROS cancel response to send
* \return `RCL_RET_OK` if the request was taken, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@ -713,6 +724,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_send_cancel_response(
const rcl_action_server_t * action_server,
rmw_request_id_t * response_header,
void * ros_cancel_response);
/// Get the action name for an action server.