Struct ActionChannel 

pub struct ActionChannel<G, F, R> {
    pub goals: Mutex<VecDeque<(ActionGoalId, G)>>,
    pub acks: Mutex<HashMap<u64, GoalAck>>,
    pub feedbacks: Mutex<HashMap<u64, VecDeque<ActionFeedback<F>>>>,
    pub results: Mutex<HashMap<u64, ActionResult<R>>>,
    pub cancels: Mutex<VecDeque<ActionGoalId>>,
    pub statuses: Mutex<HashMap<u64, GoalStatus>>,
    pub heartbeats: Mutex<HashMap<u64, Timestamp>>,
    pub feedback_timestamps: Mutex<HashMap<u64, Timestamp>>,
    pub result_timestamps: Mutex<HashMap<u64, Timestamp>>,
}

In-memory channel shared between a client and a server (same-process semantics).

Analogous to middleware_core::ServiceChannel: both sides hold an Arc to the same instance; individual queues are protected by Mutex.

Fields

goals: Mutex<VecDeque<(ActionGoalId, G)>>

Client → Server: pending goal queue.

acks: Mutex<HashMap<u64, GoalAck>>

Server → Client: per-goal acknowledgement.

feedbacks: Mutex<HashMap<u64, VecDeque<ActionFeedback<F>>>>

Server → Client: feedback queues keyed by goal id.

results: Mutex<HashMap<u64, ActionResult<R>>>

Server → Client: per-goal final result.

cancels: Mutex<VecDeque<ActionGoalId>>

Client → Server: cancel request queue.

statuses: Mutex<HashMap<u64, GoalStatus>>

Current status per goal; readable by both client and server.

heartbeats: Mutex<HashMap<u64, Timestamp>>

Last heartbeat timestamp per active goal.

feedback_timestamps: Mutex<HashMap<u64, Timestamp>>

Last feedback timestamp per goal.

result_timestamps: Mutex<HashMap<u64, Timestamp>>

Last terminal result timestamp per goal.

Implementations

impl<G, F, R> ActionChannel<G, F, R>

pub fn new() -> Arc<Self>