Trait ActionExecutor 

pub trait ActionExecutor {
    // Required methods
    fn complete_goal_raw(
        &mut self,
        action_entity: &str,
        goal_id: &GoalId,
        status: GoalStatus,
        result: &[u8],
    ) -> NodeResult<()>;
    fn publish_feedback_raw(
        &mut self,
        action_entity: &str,
        goal_id: &GoalId,
        feedback: &[u8],
    ) -> NodeResult<()>;
    fn for_each_active_goal(
        &self,
        action_entity: &str,
        visit: &mut dyn FnMut(&GoalId, GoalStatus),
    );
}

The executable counterpart of Node (W.5.1).

register (declarative) stays the planning SSOT; this binds runnable bodies. The generated runtime builds State once via init, then routes every fired callback to on_callback. Trait-dispatch (no boxed dyn, no alloc) keeps it no_std. Executor-backed action operations a TickCtx drives (W.5.6).

Action result/feedback need &mut Executor (complete_goal_raw / publish_feedback_raw), which a mid-spin callback can’t hold (the executor is borrowed) — so they run from ExecutableNode::tick, between spins. The generated runtime implements this over the real executor + the action servers’ handles (resolved by stable action entity id); the component never sees the executor directly. Kept as a trait so TickCtx stays no_std + free of the rmw-cffi-gated Executor type.

Required Methods

fn complete_goal_raw( &mut self, action_entity: &str, goal_id: &GoalId, status: GoalStatus, result: &[u8], ) -> NodeResult<()>

Complete the goal goal_id on action action_entity with raw CDR result.

fn publish_feedback_raw( &mut self, action_entity: &str, goal_id: &GoalId, feedback: &[u8], ) -> NodeResult<()>

Publish raw CDR feedback for goal_id on action action_entity.

fn for_each_active_goal( &self, action_entity: &str, visit: &mut dyn FnMut(&GoalId, GoalStatus), )

Visit every goal on action_entity that has been accepted but not yet completed, with its id + current status. The execution seam: a tick body has no other way to learn an accepted goal’s id (the goal-decision callback doesn’t surface it), so it iterates here to drive feedback / completion.

Implementors