Trait ActionServerCoreFfi 

pub trait ActionServerCoreFfi: Sealed + Sized {
    // Required methods
    fn from_channels(
        send_goal_server: RmwServiceServer,
        cancel_goal_server: RmwServiceServer,
        get_result_server: RmwServiceServer,
        feedback_publisher: RmwPublisher,
        status_publisher: RmwPublisher,
    ) -> Self;
    fn try_recv_goal_request(
        &mut self,
    ) -> Result<Option<RawGoalRequest>, NodeError>;
    fn goal_buffer(&self) -> &[u8] ;
    fn accept_goal(
        &mut self,
        goal_id: GoalUuid,
        seq: i64,
    ) -> Result<(), NodeError>;
    fn reject_goal(&mut self, seq: i64) -> Result<(), NodeError>;
    fn publish_feedback_raw(
        &mut self,
        goal_id: &GoalUuid,
        feedback_cdr: &[u8],
    ) -> Result<(), NodeError>;
    fn set_goal_status(&mut self, goal_id: &GoalUuid, status: GoalStatusCode);
    fn expire_completed_results(&mut self) -> usize;
    fn completed_result_count(&self) -> usize;
    fn result_slab_used(&self) -> usize;
    fn goal_exists(&self, goal_id: &GoalUuid) -> bool;
    fn has_completed_result(&self, goal_id: &GoalUuid) -> bool;
    fn complete_goal_raw(
        &mut self,
        goal_id: &GoalUuid,
        status: GoalStatusCode,
        result_cdr: &[u8],
    ) -> Result<(), NodeError>;
    fn register_goal_waker(&self, waker: &Waker) -> bool;
    fn register_cancel_waker(&self, waker: &Waker) -> bool;
    fn register_get_result_waker(&self, waker: &Waker) -> bool;
    fn try_recv_cancel_request(
        &mut self,
    ) -> Result<Option<PendingCancelRequest>, NodeError>;
    fn send_cancel_reply(
        &mut self,
        sequence_number: i64,
        return_code: CancelResponseCode,
        accepted: &[GoalUuid],
    ) -> Result<(), NodeError>;
    fn try_handle_cancel(
        &mut self,
        cancel_handler: impl FnMut(&GoalUuid, GoalStatusCode) -> CancelResponse,
    ) -> Result<Option<(GoalUuid, CancelResponse)>, NodeError>;
    fn try_handle_get_result_raw(
        &mut self,
        default_result_cdr: &[u8],
    ) -> Result<Option<GoalUuid>, NodeError>;
    fn active_goal_count(&self) -> usize;
    fn active_goals(&self) -> &[RawActiveGoal];
    fn goal_stamp(&self, goal_id: &GoalUuid) -> Time;
    fn find_goal_status(&self, goal_id: &GoalUuid) -> GoalStatusCode;
    fn publish_status_array(&self) -> Result<(), NodeError>;
}

ActionServerCore’s methods, for nros-c, nros-cpp and the nros runtime. Sealed.

Required Methods

fn from_channels( send_goal_server: RmwServiceServer, cancel_goal_server: RmwServiceServer, get_result_server: RmwServiceServer, feedback_publisher: RmwPublisher, status_publisher: RmwPublisher, ) -> Self

The FFI entry point; see ActionServerCore::from_channels in action_core.rs.

fn try_recv_goal_request(&mut self) -> Result<Option<RawGoalRequest>, NodeError>

The FFI entry point; see ActionServerCore::try_recv_goal_request in action_core.rs.

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

The FFI entry point; see ActionServerCore::goal_buffer in action_core.rs.

fn accept_goal(&mut self, goal_id: GoalUuid, seq: i64) -> Result<(), NodeError>

The FFI entry point; see ActionServerCore::accept_goal in action_core.rs.

fn reject_goal(&mut self, seq: i64) -> Result<(), NodeError>

The FFI entry point; see ActionServerCore::reject_goal in action_core.rs.

fn publish_feedback_raw( &mut self, goal_id: &GoalUuid, feedback_cdr: &[u8], ) -> Result<(), NodeError>

The FFI entry point; see ActionServerCore::publish_feedback_raw in action_core.rs.

fn set_goal_status(&mut self, goal_id: &GoalUuid, status: GoalStatusCode)

The FFI entry point; see ActionServerCore::set_goal_status in action_core.rs.

fn expire_completed_results(&mut self) -> usize

The FFI entry point; see ActionServerCore::expire_completed_results in action_core.rs.

fn completed_result_count(&self) -> usize

The FFI entry point; see ActionServerCore::completed_result_count in action_core.rs.

fn result_slab_used(&self) -> usize

The FFI entry point; see ActionServerCore::result_slab_used in action_core.rs.

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

The FFI entry point; see ActionServerCore::goal_exists in action_core.rs.

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

The FFI entry point; see ActionServerCore::has_completed_result in action_core.rs.

fn complete_goal_raw( &mut self, goal_id: &GoalUuid, status: GoalStatusCode, result_cdr: &[u8], ) -> Result<(), NodeError>

The FFI entry point; see ActionServerCore::complete_goal_raw in action_core.rs.

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

The FFI entry point; see ActionServerCore::register_goal_waker in action_core.rs.

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

The FFI entry point; see ActionServerCore::register_cancel_waker in action_core.rs.

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

The FFI entry point; see ActionServerCore::register_get_result_waker in action_core.rs.

fn try_recv_cancel_request( &mut self, ) -> Result<Option<PendingCancelRequest>, NodeError>

The FFI entry point; see ActionServerCore::try_recv_cancel_request in action_core.rs.

fn send_cancel_reply( &mut self, sequence_number: i64, return_code: CancelResponseCode, accepted: &[GoalUuid], ) -> Result<(), NodeError>

The FFI entry point; see ActionServerCore::send_cancel_reply in action_core.rs.

fn try_handle_cancel( &mut self, cancel_handler: impl FnMut(&GoalUuid, GoalStatusCode) -> CancelResponse, ) -> Result<Option<(GoalUuid, CancelResponse)>, NodeError>

The FFI entry point; see ActionServerCore::try_handle_cancel in action_core.rs.

fn try_handle_get_result_raw( &mut self, default_result_cdr: &[u8], ) -> Result<Option<GoalUuid>, NodeError>

The FFI entry point; see ActionServerCore::try_handle_get_result_raw in action_core.rs.

fn active_goal_count(&self) -> usize

The FFI entry point; see ActionServerCore::active_goal_count in action_core.rs.

fn active_goals(&self) -> &[RawActiveGoal]

The FFI entry point; see ActionServerCore::active_goals in action_core.rs.

fn goal_stamp(&self, goal_id: &GoalUuid) -> Time

The FFI entry point; see ActionServerCore::goal_stamp in action_core.rs.

fn find_goal_status(&self, goal_id: &GoalUuid) -> GoalStatusCode

The FFI entry point; see ActionServerCore::find_goal_status in action_core.rs.

fn publish_status_array(&self) -> Result<(), NodeError>

The FFI entry point; see ActionServerCore::publish_status_array in action_core.rs.

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety".

Implementors

impl<const GOAL_BUF: usize, const RESULT_BUF: usize, const FEEDBACK_BUF: usize, const MAX_GOALS: usize> ActionServerCoreFfi for ActionServerCore<GOAL_BUF, RESULT_BUF, FEEDBACK_BUF, MAX_GOALS>