action.h

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#ifndef NROS_ACTION_H
#define NROS_ACTION_H
 
/* Type and function definitions live in <rclc/detail/nros_generated.h>.
 * This per-module header is kept as a thin shim so existing code that
 * does `#include <rclc/action.h>` continues to compile. */
#include "rclc/types.h"
 
static inline 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) {
    return rcl_action_client_init(action_client, node, type_info, action_name, NULL);
}
 
/*
 * NOT provided: `rclc_action_server_init_default`. phase-417 W5.d looked and
 * refused, and the reason is a PARAMETER rather than an order:
 *
 *   rclc: rcl_ret_t rclc_action_server_init_default(
 *             rclc_action_server_t *action_server, rcl_node_t *node,
 *             rclc_support_t *support,
 *             const rosidl_action_type_support_t *type_support,
 *             const char *action_name)
 *
 * rclc's body (`rclc/src/rclc/action_server.c` @ `10eadcc`) reads `support`
 * for exactly one thing — it passes `&support->clock` to `rcl_action_server_init`.
 * Ours has nothing to pass it to: `rclc_action_server_init_with_callbacks` "stores metadata
 * (name, type, callbacks)" and defers RMW entity creation to
 * `rclc_executor_attach_action_server()`, so it takes neither a clock nor a
 * support handle. A faithful-looking five-argument forwarder would therefore
 * carry an argument it IGNORES — the inert-parameter defect RFC-0089 exists to
 * end, and the same refusal `rclc_node_resolve_name` makes for rcl's
 * `allocator` and `is_service`.
 *
 * The second half is the callbacks. rclc registers goal and cancel handlers at
 * `rclc_executor_add_action_server`; ours are bound at init
 * (`rclc_action_server_init_with_callbacks(server, node, action_name, type_info, goal_cb,
 * cancel_cb, accepted_cb, ...)`). Forwarding to the callback-free
 * `rclc_polling_action_server_init` instead would not even compile since
 * phase-487 W4 (it takes a `rclc_polling_action_server_t`), and before that it
 * compiled and then dispatched
 * nothing, which is the "plausible name over an opposite data contract" class.
 *
 * Closing this needs the `rclc_executor_add_action_server` binding site, not a
 * wrapper. Ledger row `c:action_server_init_default` records it, still declined.
 */
 
#endif /* NROS_ACTION_H */