client.hpp File Reference

#include <cstdint>
#include <cstddef>
#include <string.h>
#include "rclcpp/detail/config.hpp"
#include "rclcpp/detail/entity_name.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/owned.hpp"
#include "rclcpp/result.hpp"
#include "rclcpp/size_bound.hpp"
#include "rclcpp/future.hpp"
#include "rclcpp/stream.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_action/server.hpp"
#include "rclcpp_action/detail/upstream.hpp"
#include "rclcpp/detail/nros_cpp_ffi.h"
#include "rclcpp/node.hpp"

Include dependency graph for client.hpp:

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Go to the source code of this file.

Classes
class	rclcpp_action::Client< A >
class	rclcpp_action::ClientGoalHandle< A >
struct	rclcpp_action::Client< A >::GoalAccept
struct	GoalAccept
struct	rclcpp_action::SendGoalOptions

Namespaces
namespace	rclcpp
namespace	rclcpp_action

Typedefs
using	CancelResponse = detail::Refused<Client>
using	FeedbackType = typename A::Feedback
using	GoalHandle = ::rclcpp_action::ClientGoalHandle<A>
	Upstream's goal handle for this action (issue 2015).
using	GoalType = typename A::Goal
typedef void(*	nros_cpp_action_client_cancel_reply_callback_t) (const uint8_t goal_id[16], int64_t seq, const uint8_t *reply, size_t reply_len, void *ctx)
typedef void(*	nros_cpp_action_client_feedback_callback_t) (const uint8_t goal_id[16], const uint8_t *data, size_t len, void *ctx)
typedef void(*	nros_cpp_action_client_goal_response_callback_t) (bool accepted, const uint8_t goal_id[16], void *ctx)
typedef void(*	nros_cpp_action_client_result_callback_t) (const uint8_t goal_id[16], int32_t status, const uint8_t *data, size_t len, void *ctx)
using	ResultType = typename A::Result
using	SharedPtr = ::rclcpp::Owned<Client>
using	WrappedResult = typename GoalHandle::WrappedResult
	Upstream's result wrapper (hosted; refused on a freestanding build).

Enumerations
enum class	rclcpp_action::ResultCode : int8_t { rclcpp_action::UNKNOWN = 0 , rclcpp_action::SUCCEEDED = 4 , rclcpp_action::CANCELED = 5 , rclcpp_action::ABORTED = 6 }

Functions
bool	action_server_is_ready () const
template<typename T = void, typename... Args>
void	rclcpp_action::async_cancel_all_goals (Args &&...)
	REFUSED without std::promise — issue 2027.
template<typename T = void, typename... Args>
void	rclcpp_action::async_cancel_goal (Args &&...)
	REFUSED without std::promise — issue 2027.
template<typename T = void, typename... Args>
void	rclcpp_action::async_cancel_goals_before (Args &&...)
	REFUSED without std::promise — issue 2027.
template<typename T = void, typename... Args>
void	rclcpp_action::async_get_result (Args &&...)
template<typename T = void>
::rclcpp::Future< GoalAccept >	rclcpp_action::async_send_goal (const GoalType &, const SendGoalOptions &=SendGoalOptions())
	REFUSED on a freestanding build — issue 2015.
::rclcpp::Result	rclcpp_action::cancel_goal (const ::rclcpp_action::GoalUUID &goal_id)
	cancel_goal taking a GoalUUID value (phase-417 W4.b).
::rclcpp::Result	rclcpp_action::cancel_goal (const uint8_t goal_id[16])
	rclcpp_action::Client ()
	rclcpp_action::Client (Client &&other)
::rclcpp::Stream< FeedbackType > &	rclcpp_action::feedback_stream ()
const char *	get_action_name () const
::rclcpp::Result	get_result (const ::rclcpp_action::GoalUUID &goal_id, ResultType &result)
	get_result taking a GoalUUID value (phase-417 W4.b).
::rclcpp::Result	get_result (const uint8_t goal_id[16], ResultType &result)
::rclcpp::Result	rclcpp_action::get_result_async (const ::rclcpp_action::GoalUUID &goal_id)
	get_result_async taking a GoalUUID value (phase-417 W4.b).
::rclcpp::Result	rclcpp_action::get_result_async (const uint8_t goal_id[16])
::rclcpp::Future< ResultType >	rclcpp_action::get_result_future (const ::rclcpp_action::GoalUUID &goal_id)
	get_result_future taking a GoalUUID value (phase-417 W4.b).
::rclcpp::Future< ResultType >	rclcpp_action::get_result_future (const uint8_t goal_id[16])
template<size_t Cap>
::rclcpp::Future< ResultType, Cap >	rclcpp_action::get_result_future_sized (const uint8_t goal_id[16])
template<size_t Cap>
::rclcpp::Result	get_result_sized (const uint8_t goal_id[16], ResultType &result)
template<typename A>
class rclcpp_action::Client	rclcpp_action::GOAL (issue 2011)
bool	rclcpp_action::is_valid () const
	Check if the action client is initialized and valid.
nros_cpp_ret_t	nros_cpp_action_client_set_callbacks (void *handle, nros_cpp_action_client_goal_response_callback_t goal_response, nros_cpp_action_client_feedback_callback_t feedback, nros_cpp_action_client_result_callback_t result, void *context)
nros_cpp_ret_t	nros_cpp_action_client_set_cancel_reply_callback (void *handle, nros_cpp_action_client_cancel_reply_callback_t cb)
Client &	rclcpp_action::operator= (Client &&other)
void	rclcpp_action::poll ()
::rclcpp::Result	send_goal (const GoalType &goal, ::rclcpp_action::GoalUUID &goal_id)
::rclcpp::Result	send_goal (const GoalType &goal, uint8_t goal_id[16])
::rclcpp::Result	rclcpp_action::send_goal_async (const GoalType &goal, ::rclcpp_action::GoalUUID &goal_id)
::rclcpp::Result	rclcpp_action::send_goal_async (const GoalType &goal, uint8_t goal_id[16])
::rclcpp::Result	rclcpp_action::set_callbacks (const SendGoalOptions &options)
::rclcpp::Result	rclcpp_action::try_recv_cancel_response (::rclcpp_action::CancelReturnCode &out)
::rclcpp::Result	rclcpp_action::try_recv_feedback (FeedbackType &feedback)
template<size_t Cap>
::rclcpp::Result	rclcpp_action::try_recv_feedback_sized (FeedbackType &feedback)
template<typename T = void>
::rclcpp::Result	wait_for_action_server ()
	REFUSED — wait_for_action_server() with no budget.
::rclcpp::Result	wait_for_action_server (uint32_t timeout_ms)
	rclcpp_action::~Client ()

Variables
static const size_t	rclcpp_action::CANCEL_STASH_CAP = 4
struct rclcpp_action::SendGoalOptions	rclcpp_action::GOAL
static const size_t	rclcpp_action::MAX_CANCEL_INFOS = 16

Typedef Documentation

CancelResponse

using CancelResponse = detail::Refused<Client>

FeedbackType

using FeedbackType = typename A::Feedback

GoalHandle

using GoalHandle = ::rclcpp_action::ClientGoalHandle<A>

Upstream's goal handle for this action (issue 2015).

GoalType

using GoalType = typename A::Goal

nros_cpp_action_client_cancel_reply_callback_t

typedef void(* nros_cpp_action_client_cancel_reply_callback_t) (const uint8_t goal_id[16], int64_t seq, const uint8_t *reply, size_t reply_len, void *ctx)

Issue 2034 — (goal_id, seq, reply, reply_len, ctx): a cancel reply the executor's spin took, with its request's sequence id and whole frame.

nros_cpp_action_client_feedback_callback_t

typedef void(* nros_cpp_action_client_feedback_callback_t) (const uint8_t goal_id[16], const uint8_t *data, size_t len, void *ctx)

nros_cpp_action_client_goal_response_callback_t

typedef void(* nros_cpp_action_client_goal_response_callback_t) (bool accepted, const uint8_t goal_id[16], void *ctx)

nros_cpp_action_client_result_callback_t

typedef void(* nros_cpp_action_client_result_callback_t) (const uint8_t goal_id[16], int32_t status, const uint8_t *data, size_t len, void *ctx)

ResultType

using ResultType = typename A::Result

SharedPtr

using SharedPtr = ::rclcpp::Owned<Client>

Issue 2015 — upstream's Client<A>::SharedPtr. Not a std::shared_ptr: rclcpp::Owned<Client> holds the client BY VALUE (no allocator), which is what rclcpp_action::create_client returns.

WrappedResult

using WrappedResult = typename GoalHandle::WrappedResult

Upstream's result wrapper (hosted; refused on a freestanding build).

Function Documentation

action_server_is_ready()

bool GOAL::action_server_is_ready

(

)

const

Is an action server for this action visible right now? — phase-417 W4.b.

rclcpp_action::ClientBase::action_server_is_ready, the NON-BLOCKING half of wait_for_action_server. C has had rclc_action_client_action_server_is_ready and Rust ActionClient::action_server_is_ready since phase-338; C++ had neither, so the only way to ask here was to block (ledger row cpp:Client::action_server_is_ready, a C++-only gap rather than a decision).

Spins nothing, so unlike wait_for_action_server it is legal inside a callback. Its answer is a SNAPSHOT: false means "not visible yet", never "will not appear".

get_action_name()

const char * GOAL::get_action_name

(

)

const

Read back the action name this client was created on — phase-417 W4.b.

The client half of "four surfaces, one accessor" (ledger row c:action_client_get_action_name); see rclcpp_action::Server<A>::get_action_name for why the 256-byte copy is where it is. Returns "" (never NULL) on an uninitialised client.

get_result() [1/2]

::rclcpp::Result GOAL::get_result	(	const ::rclcpp_action::GoalUUID &	goal_id,
		ResultType &	result )

get_result taking a GoalUUID value (phase-417 W4.b).

get_result() [2/2]

::rclcpp::Result GOAL::get_result	(	const uint8_t	goal_id[16],
		ResultType &	result )

Get the result for a goal (blocking with timeout).

Sends a get_result request and spins the executor until a reply arrives or timeout (Phase 82 compliant – drives the executor).

Parameters

goal_id	16-byte goal UUID from send_goal().
result	Output result struct (filled on success).

Returns

Result indicating success, timeout, or failure.

get_result_sized()

template<size_t Cap>

::rclcpp::Result GOAL::get_result_sized	(	const uint8_t	goal_id[16],
		ResultType &	result )

get_result with the receive buffer sized by the CALLER. See Subscription::try_recv_sized (issue 0964).

nros_cpp_action_client_set_callbacks()

nros_cpp_ret_t nros_cpp_action_client_set_callbacks	(	void *	handle,
		nros_cpp_action_client_goal_response_callback_t	goal_response,
		nros_cpp_action_client_feedback_callback_t	feedback,
		nros_cpp_action_client_result_callback_t	result,
		void *	context )

nros_cpp_action_client_set_cancel_reply_callback()

nros_cpp_ret_t nros_cpp_action_client_set_cancel_reply_callback	(	void *	handle,
		nros_cpp_action_client_cancel_reply_callback_t	cb )

send_goal() [1/2]

::rclcpp::Result GOAL::send_goal	(	const GoalType &	goal,
		::rclcpp_action::GoalUUID &	goal_id )

send_goal writing the generated id into a GoalUUID value (phase-417 W4.b) — the shape you can put in a map.

send_goal() [2/2]

::rclcpp::Result GOAL::send_goal	(	const GoalType &	goal,
		uint8_t	goal_id[16] )

Send a goal and receive the generated goal UUID (blocking).

Internally spins the executor until the server accepts or rejects the goal (Phase 82 compliant – drives the executor).

Upstream's async_send_goal returns a std::shared_future of a goal handle. This one blocks and reports through Result plus an out-param goal id: no future and no goal handle (RFC-0021: no async runtime, no allocator). The future-shaped spelling is send_goal_future, over rclcpp::Future.

Parameters

goal	Goal to send.
goal_id	Output 16-byte goal UUID (filled on success).

Returns

Result indicating success or failure.

wait_for_action_server() [1/2]

template<typename T = void>

::rclcpp::Result GOAL::wait_for_action_server

(

)

REFUSED — wait_for_action_server() with no budget.

wait_for_action_server() [2/2]

::rclcpp::Result GOAL::wait_for_action_server

(

uint32_t

timeout_ms

)

phase-338 W8 — block until the action server is discoverable.

Mirrors rclcpp_action::Client::wait_for_action_server. Probes the send_goal queryable, which is the load-bearing entity for the first send_goal(). Prefer this over retrying send_goal() on timeout: it waits for the real condition and re-probes, so a server that comes up after the wait starts is still seen.

Spins the executor while probing — not for use inside a callback. Returns Unsupported at once when the backend cannot know whether a server is up (XRCE — issue 1686); a caller that may send blind proceeds.

The budget is REQUIRED — phase-417 stage 3, the same defect and the same fix as Client::wait_for_service; they were found together and are corrected together, under one message. Upstream's rclcpp_action::Client::wait_for_action_server(timeout = -1) waits forever; this used to substitute 5000 ms for an argument-free call, silently. RFC-0021 is why the unbounded form does not exist here, and NROS_RCLCPP_REFUSE_UNBOUNDED_WAIT is what a ported caller now reads.

Takes uint32_t MILLISECONDS, not a std::chrono::duration, and returns Result (timeout vs. not-initialised by code), not bool.