Action server and client API. More...

#include "rclc/types.h"

Include dependency graph for action.h:

This graph shows which files directly or indirectly include this file:

Functions
static rcl_ret_t	rclc_action_client_init_default (struct rcl_action_client_t action_client, const struct rcl_node_t node, const struct rclc_action_type_t type_info, const char action_name)
	rclc's default preset constructor for an action client.

Detailed Description

Action server and client API.

Actions provide long-running goal-oriented communication with feedback and cancellation support.

Function Documentation

◆ rclc_action_client_init_default()

static rcl_ret_t rclc_action_client_init_default	(	struct rcl_action_client_t *	action_client,
		const struct rcl_node_t *	node,
		const struct rclc_action_type_t *	type_info,
		const char *	action_name
	)

inlinestatic

rclc's default preset constructor for an action client.

phase-417 W5.d. Ledger row c:action_client_init_default was declined on "`rcl_action_client_init` takes no QoS and IS the default form" — which says the CAPABILITY corresponds, not that the name may be missing. RFC-0089 is explicit that a correspondence is a reason to take the spelling, so a ported rclc_action file compiles on this line instead of on a diff.

The argument order is rclc's, and that is the whole reason this exists as a separate name rather than as a rename of rcl_action_client_init(): rclc puts the typesupport third and the action name fourth, ours has them the other way round. Both are pointers, so a caller who guessed wrong gets a WARNING and a client initialised with a type descriptor as its name — the silent-reorder hazard RFC-0089 records, which is exactly why phase-417 pairs every reorder with a rename. The forwarder below is where the swap happens, once, and tests/compile/preset_constructors.c promotes -Wincompatible-pointer-types to an error so a mis-wired swap cannot ship.

This is the CALLBACK-mode client (rclc registers the goal/feedback/result callbacks later, at rclc_executor_add_action_client), so it forwards to rcl_action_client_init() and not to rclc_polling_action_client_init(), which builds the separate polled type (phase-487 W4).

static inline: no symbol, no writable data.

Parameters

[out]	action_client	Zero-initialised action client to fill in.
[in]	node	An initialised node.
[in]	type_info	Generated action type descriptor.
[in]	action_name	Action name, null-terminated.

Returns: Whatever rcl_action_client_init() returns.

Functions

Detailed Description

Function Documentation

◆ rclc_action_client_init_default()