57 lines
1.7 KiB
C++
57 lines
1.7 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 RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
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#define RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
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#include <rcl_action/action_client.h>
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#include <functional>
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#include <memory>
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#include "rclcpp_action/visibility_control.hpp"
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namespace rclcpp_action
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{
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// Forward declarations
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template<typename ACTION>
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class Client;
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template<typename ACTION>
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class ClientGoalHandle
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{
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public:
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virtual ~ClientGoalHandle();
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/// TODO(sloretz) examples have this on client as `async_cancel_goal(goal_handle)`
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std::future<bool>
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async_cancel();
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std::future<typename ACTION::Result>
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async_result();
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private:
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// The templated Server creates goal handles
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friend Client<ACTION>;
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ClientGoalHandle(rcl_action_client_t * rcl_client, const rcl_action_goal_info_t rcl_info);
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// TODO(sloretz) shared pointer to keep rcl_client_ alive while goal handles are alive
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rcl_action_client_t * rcl_client_;
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rcl_action_goal_info_t rcl_info_;
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};
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} // namespace rclcpp_action
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#include <rclcpp_action/client_goal_handle_impl.hpp> // NOLINT(build/include_order)
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#endif // RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
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