Trait ClientDispatch 

pub trait ClientDispatch {
    // Required methods
    fn call_raw(
        &mut self,
        service_entity: &str,
        request_cdr: &[u8],
        response_buf: &mut [u8],
    ) -> NodeResult<usize>;
    fn send_goal_raw(
        &mut self,
        action_entity: &str,
        goal_cdr: &[u8],
    ) -> NodeResult<GoalId>;
}

Executor-backed CLIENT operations a TickCtx drives (Phase 212.M-F.4).

Service-client call + action-client send_goal need &mut Executor (the W.5.6 client handles live on the executor), which a mid-spin callback can’t hold. They run from ExecutableNode::tick, between spins. The generated runtime impls this over the real executor + the service/action client handles (resolved by stable client 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.

Mirrors the sibling ActionExecutor (server-side ops). Splitting client vs server keeps each trait small + lets the codegen-side GenClientDispatch impl resolve client handles independently from server handles.

Required Methods

fn call_raw( &mut self, service_entity: &str, request_cdr: &[u8], response_buf: &mut [u8], ) -> NodeResult<usize>

Issue a service-client request on service_entity carrying CDR request_cdr; block on the reply, write the response CDR into response_buf, return the response length in bytes.

The synchronous block model matches the existing ServiceClientTrait::call_raw surface in nros-node — the tick hook drives the executor between callback dispatch, so a blocked call_raw does not starve other callbacks (each tick yields back to the runtime after returning).

fn send_goal_raw( &mut self, action_entity: &str, goal_cdr: &[u8], ) -> NodeResult<GoalId>

Send an action-client goal request on action_entity carrying CDR goal_cdr; return the assigned GoalId (server-stamped on the goal-accept response). Result + feedback streams arrive via callback dispatch — not this method.

Implementors