Trait ActionMsg 

pub trait ActionMsg:
    'static
    + Send
    + Sync {
    type Goal: ActionGoal;
    type Result: ActionResult;
    type Feedback: TypeSupport + GetUUID;
    type GoalContent: TypeSupport;
    type ResultContent: TypeSupport + TryClone;
    type FeedbackContent: TypeSupport;

    // Required methods
    fn type_name() -> &'static str;
    fn new_goal_request(
        goal: Self::GoalContent,
        uuid: [u8; 16],
    ) -> <Self::Goal as ActionGoal>::Request;
    fn new_result_response(
        status: u8,
        result: Self::ResultContent,
    ) -> <Self::Result as ActionResult>::Response;
    fn new_feedback_message(
        feedback: Self::FeedbackContent,
        uuid: [u8; 16],
    ) -> Self::Feedback;

    // Provided methods
    fn type_support() -> *const c_void { ... }
    fn type_hash() -> Result<String, Error> { ... }
}

Trait for ROS2 action message types.

Actions are more complex than services and include goals, results, and feedback messages.

Required Associated Types

type Goal: ActionGoal

The goal service type.

type Result: ActionResult

The result service type.

type Feedback: TypeSupport + GetUUID

The feedback message type.

type GoalContent: TypeSupport

The goal content type (the actual goal data).

type ResultContent: TypeSupport + TryClone

The result content type (the actual result data).

type FeedbackContent: TypeSupport

The feedback content type (the actual feedback data).

Required Methods

fn type_name() -> &'static str

Returns the type name in DDS format.

Example: "example_interfaces::srv::dds_::AddTwoInts_"

This is used for Zenoh key expressions and type matching.

fn new_goal_request( goal: Self::GoalContent, uuid: [u8; 16], ) -> <Self::Goal as ActionGoal>::Request

Create a new goal request with the given goal and UUID.

fn new_result_response( status: u8, result: Self::ResultContent, ) -> <Self::Result as ActionResult>::Response

Create a new result response with the given status and result.

fn new_feedback_message( feedback: Self::FeedbackContent, uuid: [u8; 16], ) -> Self::Feedback

Create a new feedback message with the given feedback and UUID.

Provided Methods

fn type_support() -> *const c_void

Returns an opaque pointer to the action type support structure.

fn type_hash() -> Result<String, Error>

Returns the RIHS01 type hash for this message type.

Implementation

• For RCL: Returns empty string (hash is handled by rosidl typesupport)
• For Zenoh: Computes hash from TypeDescription

The hash format is: RIHS01_<64_character_hex_sha256>

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors

impl ActionMsg for Fibonacci

type Goal = Fibonacci_SendGoal

type Result = Fibonacci_GetResult

type Feedback = Fibonacci_FeedbackMessage

type GoalContent = Fibonacci_Goal

type ResultContent = Fibonacci_Result

type FeedbackContent = Fibonacci_Feedback