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RawCancelCallback

nros

Type Alias RawCancelCallback 

Source 
pub type RawCancelCallback = unsafe extern "C" fn(*const GoalId, GoalStatus, *mut c_void) -> CancelResponse;
Expand description

Raw action cancel callback.

§Safety

  • goal_id is valid for the duration of the call

Returns the PER-GOAL decision nros_core::CancelResponse (0=Reject, 1=Accept) — the same two values C’s nros_cancel_response_t and C++’s nros::CancelResponse use. Issue 0796: this used to return the action_msgs/srv/CancelGoal RPC return code (now CancelReturnCode), so a callback answering one goal spoke in whole-request status codes and the server wrote its answer straight into the reply’s return_code field.