Struct RawActionServerSpec 

pub struct RawActionServerSpec<'a> {
    pub node_id: Option<NodeId>,
    pub action_name: &'a str,
    pub type_name: &'a str,
    pub type_hash: &'a str,
    pub hashes: ActionEndpointHashes<'a>,
    pub qos: QoSProfile,
    pub goal_callback: unsafe extern "C" fn(*const GoalId, *const u8, usize, *mut c_void) -> GoalResponse,
    pub cancel_callback: unsafe extern "C" fn(*const GoalId, GoalStatus, *mut c_void) -> CancelResponse,
    pub accepted_callback: Option<unsafe extern "C" fn(*const GoalId, *mut c_void)>,
    pub context: *mut c_void,
}

Inputs for raw (untyped) action-server registration.

Collapses the runtime arguments shared by the register_action_server_raw* family. Buffer sizes / max-goals stay as const-generic turbofish parameters on the registration methods.

Fields

node_id: Option<NodeId>

None registers on the executor’s own node; Some(id) routes the server’s 5 underlying handles (send_goal / cancel_goal / get_result servers + feedback / status publishers) through the named Node’s session.

action_name: &'a str

type_name: &'a str

type_hash: &'a str

The ACTION’s own hash; feeds ActionInfo only. The endpoints are keyed on hashes.

hashes: ActionEndpointHashes<'a>

Issue 1913 — the hash each of the five endpoints is keyed on.

qos: QoSProfile

QoS for the action’s three underlying service servers (send_goal / cancel_goal / get_result; Phase 193.4b). The feedback + status publishers keep their own profiles. Use QoSProfile::services_default for the rclc-compatible default.

goal_callback: unsafe extern "C" fn(*const GoalId, *const u8, usize, *mut c_void) -> GoalResponse

cancel_callback: unsafe extern "C" fn(*const GoalId, GoalStatus, *mut c_void) -> CancelResponse

accepted_callback: Option<unsafe extern "C" fn(*const GoalId, *mut c_void)>

context: *mut c_void