Struct ActionServerHandle 

pub struct ActionServerHandle<A>
where
    A: RosAction,
{ /* private fields */ }

Handle to an action server registered in the executor’s arena.

Returned by Executor::register_action_server(). Provides methods to interact with the server (publish feedback, complete goals) while the executor automatically handles goal acceptance, cancel requests, and result serving during spin_once().

Implementations

impl<A> ActionServerHandle<A>

where A: RosAction,

pub fn handle_id(&self) -> HandleId

Get the HandleId for this action server.

Used with Trigger::One or HandleSet for trigger configuration.

pub fn publish_feedback( &self, executor: &mut Executor<'_>, goal_id: &GoalId, feedback: &<A as RosAction>::Feedback, ) -> Result<(), NodeError>

Publish feedback for an active goal.

Serialises the feedback message and sends it to all clients monitoring this goal. Returns an error if the handle slot has been removed from the executor.

pub fn succeed( &self, executor: &mut Executor<'_>, goal_id: &GoalId, result: <A as RosAction>::Result, ) -> Result<(), NodeError>

Complete a goal with a terminal status and result payload.

The goal is moved from the active set to the completed-results slab. Clients waiting on a result will receive the response. status should be one of Succeeded, Aborted, or Canceled.

Errors

NodeError::BufferTooSmall when the handle slot has been removed from the executor, or when the serialized result exceeds the server’s RESULT_BUF and so cannot be retained for a later get_result (issue 0796 — this used to return () and swallow both). Terminate goal_id as SUCCEEDED — phase-379 W5.

The three terminal verbs (succeed / abort / cancel) name the ACTION SPEC’s terminal states, which is also what rclcpp_action’s ServerGoalHandle spells them: succeed(result), abort(result), canceled(result). They take the goal ID rather than hanging off a handle because a goal here lives in a fixed-capacity arena and is named by its UUID — see the divergence row for why neither client library’s ownership model is available without an allocator.

complete_goal remains the general form for a status computed at runtime.

pub fn abort( &self, executor: &mut Executor<'_>, goal_id: &GoalId, result: <A as RosAction>::Result, ) -> Result<(), NodeError>

Terminate goal_id as ABORTED. See Self::succeed.

pub fn cancel( &self, executor: &mut Executor<'_>, goal_id: &GoalId, result: <A as RosAction>::Result, ) -> Result<(), NodeError>

Terminate goal_id as CANCELED. See Self::succeed.

Spelled cancel, not rclcpp’s canceled: the other two are imperatives (succeed, abort), and mixing an imperative with a past participle inside one family reads as an accident. The SPEC state is CANCELED either way.

pub fn complete_goal( &self, executor: &mut Executor<'_>, goal_id: &GoalId, status: GoalStatus, result: <A as RosAction>::Result, ) -> Result<(), NodeError>

pub fn set_goal_status( &self, executor: &mut Executor<'_>, goal_id: &GoalId, status: GoalStatus, )

Update a goal’s status without completing it.

Use this to transition a goal to Executing or Canceling while it is still active. To finish a goal, use complete_goal.

pub fn active_goal_count(&self, executor: &Executor<'_>) -> usize

Get the number of currently active goals.

Returns 0 if the action server handle has been removed from the executor.

pub fn for_each_active_goal( &self, executor: &Executor<'_>, f: impl FnMut(&ActiveGoal<A>), )

Iterate over all currently active goals.

Calls f for each goal that has been accepted but not yet completed. Useful for monitoring progress or canceling stale goals.

Trait Implementations

impl<A> Clone for ActionServerHandle<A>

where A: RosAction,

fn clone(&self) -> ActionServerHandle<A>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<A> Copy for ActionServerHandle<A>

where A: RosAction,