Struct ActionServer 

pub struct ActionServer<A: RosAction, 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 }, const MAX_GOALS: usize = 4> { /* private fields */ }

Typed action server with goal state management.

Wraps ActionServerCore for raw-bytes protocol handling, adding typed goal/feedback/result serialization at the boundary.

Implementations

impl<A: RosAction, const GOAL_BUF: usize, const RESULT_BUF: usize, const FEEDBACK_BUF: usize, const MAX_GOALS: usize> ActionServer<A, GOAL_BUF, RESULT_BUF, FEEDBACK_BUF, MAX_GOALS>

pub fn try_accept_goal( &mut self, goal_handler: impl FnOnce(&GoalId, &A::Goal) -> GoalResponse, ) -> Result<Option<GoalId>, NodeError>

where A::Goal: Clone,

Try to accept a new goal.

Checks for incoming send_goal requests. If one is available, calls the handler to decide acceptance. Returns the goal ID if accepted.

pub fn publish_feedback( &mut self, goal_id: &GoalId, feedback: &A::Feedback, ) -> Result<(), NodeError>

Publish feedback for a goal.

pub fn set_goal_status(&mut self, goal_id: &GoalId, status: GoalStatus)

Set a goal’s status.

Also publishes the updated GoalStatusArray on the status topic.

pub fn complete_goal( &mut self, goal_id: &GoalId, status: GoalStatus, result: A::Result, )

Complete a goal and store the result.

Also publishes the updated GoalStatusArray on the status topic.

pub fn try_handle_cancel( &mut self, cancel_handler: impl FnOnce(&GoalId, GoalStatus) -> CancelResponse, ) -> Result<Option<(GoalId, CancelResponse)>, NodeError>

Try to handle a cancel_goal request.

pub fn try_handle_get_result(&mut self) -> Result<Option<GoalId>, NodeError>

where A::Result: Clone + Default,

Try to handle a get_result request.

pub fn poll<GF, CF>( &mut self, on_goal: GF, on_cancel: CF, ) -> Result<(), NodeError>

where GF: FnMut(&GoalId, &A::Goal) -> GoalResponse, CF: FnMut(&GoalId, GoalStatus) -> CancelResponse, A::Goal: Clone, A::Result: Clone + Default,

Drain all pending server-side work in one call.

Calls try_accept_goal, try_handle_cancel, and try_handle_get_result in sequence. Invoke this on every spin_once iteration in manual-poll code — otherwise clients will hang on get_result because create_action_server() servers are not arena-registered.

The two callbacks may be called zero or one times per poll():

• on_goal fires when a new goal arrives.
• on_cancel fires when a cancel request arrives.

Get-result requests are drained unconditionally (no callback needed — the result is pulled from the goal’s stored state).

Example

let mut server = node.create_action_server::<Fibonacci>("/fibonacci")?;
loop {
    executor.spin_once(Duration::from_millis(10));
    server.poll(
        |id, goal| {
            /* accept or reject based on `goal` */
            GoalResponse::AcceptAndExecute
        },
        |_id, _status| CancelResponse::Accept,
    )?;
}

pub fn get_goal(&self, goal_id: &GoalId) -> Option<ActiveGoal<A>>

where A::Goal: Clone,

Get a reference to an active goal.

pub fn active_goal_count(&self) -> usize

Get the number of active goals.