Struct TickCtx 

pub struct TickCtx<'a> { /* private fields */ }

Context handed to ExecutableNode::tick (W.5.6 + M-F.4): the per-spin hook that runs between callback dispatch, where the executor is free. Exposes the immediate publish path (like CallbackCtx) plus executor-backed action-server ops (complete goal / publish feedback) AND executor-backed client-side ops (service call / action-client send_goal). Callbacks can’t perform any of these since they don’t hold the executor.

Implementations

impl<'a> TickCtx<'a>

pub fn new( publishers: &'a dyn PublisherResolver, actions: &'a mut dyn ActionExecutor, clients: &'a mut dyn ClientDispatch, ) -> Self

Build a tick context (called by the generated runtime each spin).

pub fn publish_to_topic<M: RosMessage, const N: usize>( &self, topic: &str, msg: &M, ) -> NodeResult<()>

Serialize msg and publish through the entity synthesized from topic.

This pairs with DeclaredNode::create_publisher_for_topic for executable tick hooks.

pub fn complete_goal_for_name<R: RosMessage, const N: usize>( &mut self, name: &str, goal_id: &GoalId, status: GoalStatus, result: &R, ) -> NodeResult<()>

Complete an action goal on the action entity synthesized from name.

This pairs with DeclaredNode::create_action_server_for_name and DeclaredNode::create_action_server_for_name_with_callbacks.

pub fn for_each_active_goal_for_name( &self, name: &str, visit: &mut dyn FnMut(&GoalId, GoalStatus), )

Visit active goals on the action entity synthesized from name.

pub fn publish_feedback_for_name<F: RosMessage, const N: usize>( &mut self, name: &str, goal_id: &GoalId, feedback: &F, ) -> NodeResult<()>

Publish feedback on the action entity synthesized from name.

pub fn call_raw_for_name( &mut self, name: &str, request_cdr: &[u8], response_buf: &mut [u8], ) -> NodeResult<usize>

Issue a raw service-client request through the entity synthesized from name.

pub fn call_for_name<Req: RosMessage, Resp: RosMessage, const REQ_N: usize, const RESP_N: usize>( &mut self, name: &str, request: &Req, ) -> NodeResult<Resp>

Issue a typed service-client request through the entity synthesized from name.

pub fn send_goal_raw_for_name( &mut self, name: &str, goal_cdr: &[u8], ) -> NodeResult<GoalId>

Send a raw-CDR action-client goal through the entity synthesized from name.

pub fn send_goal_for_name<G: RosMessage, const N: usize>( &mut self, name: &str, goal: &G, ) -> NodeResult<GoalId>

Send a typed action-client goal through the entity synthesized from name.