fd77323b9d
* Add timer to action server to check expired goals * Fix leak in action_server * Fix leaks and heap overflow errors * Fix leaks in tests
283 lines
11 KiB
C
283 lines
11 KiB
C
// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_ACTION__WAIT_H_
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#define RCL_ACTION__WAIT_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "rcl_action/action_client.h"
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#include "rcl_action/action_server.h"
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#include "rcl_action/visibility_control.h"
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#include "rcl/wait.h"
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/// Add a rcl_action_client_t to a wait set.
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/**
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* This function will add the underlying service clients and subscribers to the wait set.
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*
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* This function behaves similar to adding subscriptions to the wait set, but will add
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* five entities:
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*
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* - Three service clients
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* - Two subscriptions
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*
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* \see rcl_wait_set_add_subscription
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*
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* If this function fails for any reason, `client_index` and `subscription_index` are not set.
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* It is also possible the provided wait set is left in an inconsistent state (e.g. some
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* of the clients and subscriptions were added to the wait set, but not all).
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[inout] wait_set struct where action client service client and subscription
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* are to be stored
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* \param[in] action_client the action client to be added to the wait set
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* \param[out] client_index the starting index in the wait set's client container where
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* the action clients underlying service clients were added. Optionally, set to `NULL`
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* if ignored.
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* \param[out] subscription_index the starting index in the wait set's subscription container
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* where the action clients underlying subscriptions were added. Optionally, set to `NULL`
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* if ignored.
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* \return `RCL_RET_OK` if added successfully, or
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* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is zero initialized, or
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* \return `RCL_RET_WAIT_SET_FULL` if the subscription set is full, or
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* \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_wait_set_add_action_client(
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rcl_wait_set_t * wait_set,
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const rcl_action_client_t * action_client,
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size_t * client_index,
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size_t * subscription_index);
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/// Add a rcl_action_server_t to a wait set.
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/**
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* This function will add the underlying services to the wait set.
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*
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* This function behaves similar to adding services to the wait set, but will add
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* three services.
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*
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* \see rcl_wait_set_add_service
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*
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* * If this function fails for any reason, `service_index` is not set.
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* It is also possible the provided wait set is left in an inconsistent state (e.g. some
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* of the clients and subscribers were added to the wait set, but not all).
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[inout] wait_set struct where action server services are to be stored
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* \param[in] action_server the action server to be added to the wait set
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* \param[out] service_index the starting index in the wait set's service container where
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* the action servers underlying services were added. Optionally, set to `NULL`
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* if ignored.
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* \return `RCL_RET_OK` if added successfully, or
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* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is zero initialized, or
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* \return `RCL_RET_WAIT_SET_FULL` if the subscription set is full, or
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* \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_wait_set_add_action_server(
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rcl_wait_set_t * wait_set,
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const rcl_action_server_t * action_server,
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size_t * service_index);
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/// Get the number of wait set entities associated with a rcl_action_client_t.
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/**
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* Returns the number of entities that are added to the wait set if
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* rcl_action_wait_set_add_action_client() is called.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_client an action client to query
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* \param[out] num_subscriptions the number of subscriptions added when the action client
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* is added to the wait set
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* \param[out] num_guard_conditions the number of guard conditions added when the action client
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* is added to the wait set
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* \param[out] num_timers the number of timers added when the action client
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* is added to the wait set
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* \param[out] num_clients the number of clients added when the action client
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* is added to the wait set
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* \param[out] num_services the number of services added when the action client
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* is added to the wait set
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* \return `RCL_RET_OK` if call is successful, 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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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_client_wait_set_get_num_entities(
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const rcl_action_client_t * action_client,
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size_t * num_subscriptions,
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size_t * num_guard_conditions,
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size_t * num_timers,
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size_t * num_clients,
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size_t * num_services);
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/// Get the number of wait set entities associated with a rcl_action_server_t.
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/**
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* Returns the number of entities that are added to the wait set if
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* rcl_action_wait_set_add_action_server() is called.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_server an action server to query
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* \param[out] num_subscriptions the number of subscriptions added when the action server
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* is added to the wait set
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* \param[out] num_guard_conditions the number of guard conditions added when the action server
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* is added to the wait set
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* \param[out] num_timers the number of timers added when the action server
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* is added to the wait set
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* \param[out] num_clients the number of clients added when the action server
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* is added to the wait set
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* \param[out] num_services the number of services added when the action server
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* is added to the wait set
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* \return `RCL_RET_OK` if call is successful, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_server_wait_set_get_num_entities(
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const rcl_action_server_t * action_server,
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size_t * num_subscriptions,
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size_t * num_guard_conditions,
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size_t * num_timers,
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size_t * num_clients,
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size_t * num_services);
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/// Get the wait set entities that are ready for a rcl_action_client_t.
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/**
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* The caller can use this function to determine the relevant action client functions
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* to call: rcl_action_take_feedback(), rcl_action_take_status(),
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* rcl_action_take_goal_response(), rcl_action_take_cancel_response(), or
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* rcl_action_take_result_response().
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_client an action client to query
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* \param[out] is_feedback_ready `true` if there is a feedback message ready to take,
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* `false` otherwise
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* \param[out] is_status_message `true` if there is a status message ready to take,
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* `false` otherwise
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* \param[out] is_goal_response_ready `true` if there is a goal response message ready
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* to take, `false` otherwise
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* \param[out] is_cancel_response_ready `true` if there is a cancel response message ready
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* to take, `false` otherwise
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* \param[out] is_result_response_ready `true` if there is a result response message ready
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* to take, `false` otherwise
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* \return `RCL_RET_OK` if call is successful, or
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* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is invalid, 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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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_client_wait_set_get_entities_ready(
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const rcl_wait_set_t * wait_set,
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const rcl_action_client_t * action_client,
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bool * is_feedback_ready,
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bool * is_status_ready,
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bool * is_goal_response_ready,
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bool * is_cancel_response_ready,
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bool * is_result_response_ready);
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/// Get the wait set entities that are ready for a rcl_action_server_t.
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/**
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* The caller can use this function to determine the relevant action server functions
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* to call: rcl_action_take_goal_request(), rcl_action_take_cancel_request(), or
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* rcl_action_take_result_request().
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | No
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_server an action server to query
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* \param[out] is_goal_request_ready `true` if there is a goal request message ready
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* to take, `false` otherwise
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* \param[out] is_cancel_request_ready `true` if there is a cancel request message ready
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* to take, `false` otherwise
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* \param[out] is_result_request_ready `true` if there is a result request message ready
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* to take, `false` otherwise
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* \param[out] is_goal_expired `true` if there is a goal that expired, `false` otherwise
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* \return `RCL_RET_OK` if call is successful, or
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* \return `RCL_RET_WAIT_SET_INVALID` if the wait set is invalid, 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 server is invalid, or
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* \return `RCL_RET_ERROR` if an unspecified error occurs.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_server_wait_set_get_entities_ready(
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const rcl_wait_set_t * wait_set,
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const rcl_action_server_t * action_server,
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bool * is_goal_request_ready,
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bool * is_cancel_request_ready,
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bool * is_result_request_ready,
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bool * is_goal_expired);
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#ifdef __cplusplus
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}
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#endif
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#endif // RCL_ACTION__WAIT_H_
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