nros::ActionServer< A > Class Template Reference

#include <action_server.hpp>

Public Types
using	FeedbackType = typename A::Feedback
using	GoalType = typename A::Goal
using	ResultType = typename A::Result
using	TypedCancelFn = CancelResponse(*)(const uint8_t uuid[16])
	User-facing typed cancel callback signature.
using	TypedCancelFnWithCtx = CancelResponse(*)(const uint8_t uuid[16], void *ctx)
	User-facing typed cancel callback signature with user context (Phase 84.G9).
using	TypedGoalFn = GoalResponse(*)(const uint8_t uuid[16], const GoalType &goal)
	User-facing typed goal callback signature.
using	TypedGoalFnWithCtx = GoalResponse(*)(const uint8_t uuid[16], const GoalType &goal, void *ctx)
	User-facing typed goal callback signature with user context (Phase 84.G9).
using	TypedVisitorFn = void(*)(const uint8_t uuid[16], GoalStatus status)
	User-facing visitor signature for for_each_active_goal.

Public Member Functions
	ActionServer ()
	ActionServer (ActionServer &&other)
Result	complete_goal (const uint8_t goal_id[16], const ResultType &result)
	Complete a goal with a result.
template<typename F >
Result	for_each_active_goal (F f)
bool	is_valid () const
	Check if the action server is initialized and valid.
ActionServer &	operator= (ActionServer &&other)
Result	publish_feedback (const uint8_t goal_id[16], const FeedbackType &feedback)
template<typename F >
Result	set_cancel_callback (F f)
Result	set_cancel_callback_with_ctx (TypedCancelFnWithCtx f, void *ctx)
template<typename F >
Result	set_goal_callback (F f)
Result	set_goal_callback_with_ctx (TypedGoalFnWithCtx f, void *ctx)
	~ActionServer ()
	Destructor — releases action server resources.

Friends
class	Node

Detailed Description

template<typename A>
class nros::ActionServer< A >

Typed action server for a ROS 2 action.

Mirrors rclcpp_action::Server<A> with a callback-based API. The action type A must provide nested Goal, Result, and Feedback types with TYPE_NAME, TYPE_HASH, SERIALIZED_SIZE_MAX, ffi_serialize(), and ffi_deserialize().

Usage:

using Fib = example_interfaces::action::Fibonacci;
nros::ActionServer<Fib> srv;
NROS_TRY(node.create_action_server(srv, "/fibonacci"));
 
srv.set_goal_callback(
    [](const uint8_t[16], const Fib::Goal& g) {
        if (g.order > 46) return nros::GoalResponse::Reject;
        return nros::GoalResponse::AcceptAndExecute;
    });

Callbacks must be stateless (empty-capture lambdas or plain function pointers). This is a freestanding C++14 library without std::function, so per-instance closure storage is not available.

Member Typedef Documentation

FeedbackType

template<typename A >

using nros::ActionServer< A >::FeedbackType = typename A::Feedback

GoalType

template<typename A >

using nros::ActionServer< A >::GoalType = typename A::Goal

ResultType

template<typename A >

using nros::ActionServer< A >::ResultType = typename A::Result

TypedCancelFn

template<typename A >

using nros::ActionServer< A >::TypedCancelFn = CancelResponse (*)(const uint8_t uuid[16])

User-facing typed cancel callback signature.

TypedCancelFnWithCtx

template<typename A >

using nros::ActionServer< A >::TypedCancelFnWithCtx = CancelResponse (*)(const uint8_t uuid[16], void* ctx)

User-facing typed cancel callback signature with user context (Phase 84.G9).

TypedGoalFn

template<typename A >

using nros::ActionServer< A >::TypedGoalFn = GoalResponse (*)(const uint8_t uuid[16], const GoalType& goal)

User-facing typed goal callback signature.

TypedGoalFnWithCtx

template<typename A >

using nros::ActionServer< A >::TypedGoalFnWithCtx = GoalResponse (*)(const uint8_t uuid[16], const GoalType& goal, void* ctx)

User-facing typed goal callback signature with user context (Phase 84.G9).

TypedVisitorFn

template<typename A >

using nros::ActionServer< A >::TypedVisitorFn = void (*)(const uint8_t uuid[16], GoalStatus status)

User-facing visitor signature for for_each_active_goal.

Constructor & Destructor Documentation

~ActionServer()

template<typename A >

nros::ActionServer< A >::~ActionServer ( )

inline

Destructor — releases action server resources.

ActionServer() [1/2]

template<typename A >

nros::ActionServer< A >::ActionServer ( ActionServer< A > &&  other )

inline

ActionServer() [2/2]

template<typename A >

nros::ActionServer< A >::ActionServer ( )

inline

Default constructor — creates an uninitialized action server. Use Node::create_action_server() to initialize.

Member Function Documentation

complete_goal()

template<typename A >

Result nros::ActionServer< A >::complete_goal ( const uint8_t  goal_id[16], const ResultType &  result  )

inline

Complete a goal with a result.

for_each_active_goal()

template<typename A >

template<typename F >

Result nros::ActionServer< A >::for_each_active_goal ( F  f )

inline

Iterate over every currently live goal and invoke f(uuid, status).

F must be a stateless callable convertible to void (*)(const uint8_t uuid[16], GoalStatus status). The arena never stores the original goal CDR payload, so only identity + status are forwarded — if you need the goal bytes, stash them in a {uuid → state} table from inside set_goal_callback. F must be a stateless callable convertible to void(*)(const uint8_t[16], GoalStatus).

is_valid()

template<typename A >

bool nros::ActionServer< A >::is_valid ( ) const

inline

Check if the action server is initialized and valid.

operator=()

template<typename A >

ActionServer & nros::ActionServer< A >::operator= ( ActionServer< A > &&  other )

inline

publish_feedback()

template<typename A >

Result nros::ActionServer< A >::publish_feedback ( const uint8_t  goal_id[16], const FeedbackType &  feedback  )

inline

Publish feedback for an active goal.

Parameters

goal_id	16-byte goal UUID from the goal callback.
feedback	Feedback to publish.

Returns

Result indicating success or failure.

set_cancel_callback()

template<typename A >

template<typename F >

Result nros::ActionServer< A >::set_cancel_callback ( F  f )

inline

Register a cancel callback.

F must be a stateless callable convertible to TypedCancelFn.

set_cancel_callback_with_ctx()

template<typename A >

Result nros::ActionServer< A >::set_cancel_callback_with_ctx ( TypedCancelFnWithCtx  f, void *  ctx  )

inline

Register a cancel callback with a user context pointer.

Mirrors set_goal_callback_with_ctx — the bare function pointer receives a void* alongside each UUID so stateful cancel policies don't need captured lambdas or global state. Mutually exclusive with set_cancel_callback().

set_goal_callback()

template<typename A >

template<typename F >

Result nros::ActionServer< A >::set_goal_callback ( F  f )

inline

Register a typed goal callback.

F must be a stateless callable that decays to TypedGoalFn (empty-capture lambda or plain function pointer). F must be a stateless callable convertible to TypedGoalFn (empty-capture lambda or plain function pointer).

set_goal_callback_with_ctx()

template<typename A >

Result nros::ActionServer< A >::set_goal_callback_with_ctx ( TypedGoalFnWithCtx  f, void *  ctx  )

inline

Register a typed goal callback with a user context pointer.

The bare function pointer is stored alongside a void* that is forwarded to every invocation — lets callers reach stateful objects without capturing lambdas or file-scope globals. Overrides and is overridden by set_goal_callback() (the two modes are mutually exclusive).

Friends And Related Symbol Documentation

Node

template<typename A >

friend class Node

friend

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The documentation for this class was generated from the following files:

• include/nros/node.hpp
• include/nros/action_server.hpp