Struct ActionClient 

pub struct ActionClient<A, const GOAL_BUF: usize = nros_node::::executor::handles::ActionClient::{constant#0}, const RESULT_BUF: usize = nros_node::::executor::handles::ActionClient::{constant#1}, const FEEDBACK_BUF: usize = nros_node::::executor::handles::ActionClient::{constant#2}>
where
    A: RosAction,
{ /* private fields */ }

Typed action client handle.

Wraps ActionClientCore for raw-bytes protocol handling, adding typed goal/feedback/result serialization at the boundary.

Implementations

impl<A, const GOAL_BUF: usize, const RESULT_BUF: usize, const FEEDBACK_BUF: usize> ActionClient<A, GOAL_BUF, RESULT_BUF, FEEDBACK_BUF>

where A: RosAction,

pub fn send_goal( &mut self, goal: &<A as RosAction>::Goal, ) -> Result<(GoalId, Promise<'_, bool>), NodeError>

Send a goal (non-blocking). Returns the goal ID and a Promise for acceptance.

The promise resolves to true if accepted, false if rejected.

pub fn try_recv_feedback( &mut self, ) -> Result<Option<(GoalId, <A as RosAction>::Feedback)>, NodeError>

Try to receive feedback (non-blocking).

pub fn cancel_goal( &mut self, goal_id: &GoalId, ) -> Result<Promise<'_, CancelResponse>, NodeError>

Cancel a goal (non-blocking). Returns a Promise for the cancel response.

pub fn get_result( &mut self, goal_id: &GoalId, ) -> Result<Promise<'_, (GoalStatus, <A as RosAction>::Result)>, NodeError>

Get the result of a completed goal (non-blocking). Returns a Promise.

pub fn reset_send_goal_in_flight(&mut self)

Explicitly clear the “send_goal reply in flight” flag (Phase 84.D3).

pub fn wait_for_action_server( &mut self, executor: &mut Executor, timeout: Duration, ) -> Result<bool, NodeError>

Block until the action server’s send-goal queryable is discoverable on the network, or timeout elapses.

Returns Ok(true) on discovery, Ok(false) on timeout. Mirrors rclcpp_action::Client::wait_for_action_server.

Implementation: probes the action’s send_goal service-server liveliness keyexpr via the same primitive as [Client::wait_for_service]. Once that service is reachable the remaining four action entities (cancel queryable + feedback / status / result publishers) are also reachable in practice — they were declared by the same server in one batch.

pub fn action_server_is_ready(&self) -> bool

Snapshot whether the action server is currently visible. Mirrors rclcpp_action::Client::action_server_is_ready.

pub fn reset_cancel_in_flight(&mut self)

Explicitly clear the “cancel reply in flight” flag (Phase 84.D3).

pub fn reset_get_result_in_flight(&mut self)

Explicitly clear the “get_result reply in flight” flag (Phase 84.D3).

pub fn feedback_stream( &mut self, ) -> FeedbackStream<'_, A, GOAL_BUF, RESULT_BUF, FEEDBACK_BUF>

Create a feedback stream (receives feedback for all goals).

The stream borrows &mut self exclusively. Drop it before calling get_result() or cancel_goal().

pub fn feedback_stream_for( &mut self, goal_id: GoalId, ) -> GoalFeedbackStream<'_, A, GOAL_BUF, RESULT_BUF, FEEDBACK_BUF>

Create a goal-filtered feedback stream.

Only yields feedback for the given goal_id, returning A::Feedback directly (without the GoalId wrapper).