Struct ActionClientCore 

pub struct ActionClientCore<const GOAL_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }, const RESULT_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }, const FEEDBACK_BUF: usize = { crate::config::DEFAULT_RX_BUF_SIZE }> { /* private fields */ }

Type-agnostic action client core handling the raw-bytes protocol.

The typed ActionClient wraps this and adds serialization/deserialization at the boundary.

Trait Implementations

impl<const GOAL_BUF: usize, const RESULT_BUF: usize, const FEEDBACK_BUF: usize> ActionClientCoreFfi for ActionClientCore<GOAL_BUF, RESULT_BUF, FEEDBACK_BUF>

fn is_server_ready(&self) -> bool

The FFI entry point; see ActionClientCore::is_server_ready in action_core.rs.

fn server_readiness(&self) -> Result<bool, TransportError>

The FFI entry point; see ActionClientCore::server_readiness in action_core.rs.

fn new( send_goal_client: RmwServiceClient, cancel_goal_client: RmwServiceClient, get_result_client: RmwServiceClient, feedback_subscriber: RmwSubscriber, ) -> Self

The FFI entry point; see ActionClientCore::new in action_core.rs.

fn send_goal_raw(&mut self, goal_cdr: &[u8]) -> Result<GoalUuid, NodeError>

The FFI entry point; see ActionClientCore::send_goal_raw in action_core.rs.

fn try_recv_feedback_raw( &mut self, ) -> Result<Option<(GoalUuid, usize)>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_feedback_raw in action_core.rs.

fn send_cancel_request(&mut self, goal_id: &GoalUuid) -> Result<(), NodeError>

The FFI entry point; see ActionClientCore::send_cancel_request in action_core.rs.

fn send_cancel_request_stamped( &mut self, goal_id: &GoalUuid, stamp_sec: i32, stamp_nanosec: u32, ) -> Result<i64, NodeError>

The FFI entry point; see ActionClientCore::send_cancel_request_stamped in action_core.rs.

fn send_get_result_request( &mut self, goal_id: &GoalUuid, ) -> Result<(), NodeError>

The FFI entry point; see ActionClientCore::send_get_result_request in action_core.rs.

fn register_goal_response_waker(&self, waker: &Waker) -> bool

The FFI entry point; see ActionClientCore::register_goal_response_waker in action_core.rs.

fn register_cancel_response_waker(&self, waker: &Waker) -> bool

The FFI entry point; see ActionClientCore::register_cancel_response_waker in action_core.rs.

fn register_result_waker(&self, waker: &Waker) -> bool

The FFI entry point; see ActionClientCore::register_result_waker in action_core.rs.

fn register_feedback_waker(&self, waker: &Waker) -> bool

The FFI entry point; see ActionClientCore::register_feedback_waker in action_core.rs.

fn try_recv_cancel_reply(&mut self) -> Result<Option<usize>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_cancel_reply in action_core.rs.

fn try_recv_cancel_reply_for( &mut self, ) -> Result<Option<(usize, GoalUuid)>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_cancel_reply_for in action_core.rs.

fn try_recv_cancel_reply_seq( &mut self, ) -> Result<Option<(usize, i64, GoalUuid)>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_cancel_reply_seq in action_core.rs.

fn try_recv_get_result_reply(&mut self) -> Result<Option<usize>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_get_result_reply in action_core.rs.

fn try_recv_get_result_reply_for( &mut self, ) -> Result<Option<(usize, GoalUuid)>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_get_result_reply_for in action_core.rs.

fn try_recv_send_goal_reply(&mut self) -> Result<Option<usize>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_send_goal_reply in action_core.rs.

fn try_recv_send_goal_reply_for( &mut self, ) -> Result<Option<(usize, GoalUuid)>, NodeError>

The FFI entry point; see ActionClientCore::try_recv_send_goal_reply_for in action_core.rs.

fn forget_send_goal(&mut self, goal_id: &GoalUuid) -> bool

The FFI entry point; see ActionClientCore::forget_send_goal in action_core.rs.

fn forget_get_result(&mut self, goal_id: &GoalUuid) -> bool

The FFI entry point; see ActionClientCore::forget_get_result in action_core.rs.

fn forget_cancel(&mut self, goal_id: &GoalUuid) -> bool

The FFI entry point; see ActionClientCore::forget_cancel in action_core.rs.

fn result_buffer_ref(&self) -> &[u8]

The FFI entry point; see ActionClientCore::result_buffer_ref in action_core.rs.

fn feedback_buffer_ref(&self) -> &[u8]

The FFI entry point; see ActionClientCore::feedback_buffer_ref in action_core.rs.

fn goal_counter(&self) -> u64

The FFI entry point; see ActionClientCore::goal_counter in action_core.rs.