Trait ActionServer 

pub trait ActionServer<G, F, R>
where
    G: Send + 'static,
    F: Send + 'static,
    R: Send + 'static,
{
    // Required methods
    fn action_name(&self) -> &str;
    fn schema(&self) -> &ActionSchema;
    fn recv_goal(&mut self) -> Result<Option<(ActionGoalId, G)>, RtError>;
    fn accept_goal(&mut self, goal_id: ActionGoalId) -> Result<(), RtError>;
    fn reject_goal(
        &mut self,
        goal_id: ActionGoalId,
        reason: impl Into<String>,
    ) -> Result<(), RtError>;
    fn publish_feedback(
        &mut self,
        goal_id: ActionGoalId,
        feedback: F,
    ) -> Result<(), RtError>;
    fn heartbeat(&mut self, goal_id: ActionGoalId) -> Result<(), RtError>;
    fn succeed(
        &mut self,
        goal_id: ActionGoalId,
        result: R,
    ) -> Result<(), RtError>;
    fn fail(
        &mut self,
        goal_id: ActionGoalId,
        reason: impl Into<String>,
    ) -> Result<(), RtError>;
    fn poll_cancel_request(&mut self) -> Option<ActionGoalId>;
    fn confirm_cancel(&mut self, goal_id: ActionGoalId) -> Result<(), RtError>;
    fn close(&mut self) -> Result<(), RtError>;
}

Server-side handle: receives goals, publishes feedback, and sends the final result.

Required Methods

fn action_name(&self) -> &str

fn schema(&self) -> &ActionSchema

fn recv_goal(&mut self) -> Result<Option<(ActionGoalId, G)>, RtError>

Receive the next pending goal (FIFO).

After returning Some, the server must call either accept_goal or reject_goal; otherwise the client will wait indefinitely for a GoalAck.

fn accept_goal(&mut self, goal_id: ActionGoalId) -> Result<(), RtError>

Accept a goal; sends GoalAck { accepted: true } to the client.

fn reject_goal( &mut self, goal_id: ActionGoalId, reason: impl Into<String>, ) -> Result<(), RtError>

Reject a goal; sends GoalAck { accepted: false, reason } to the client.

fn publish_feedback( &mut self, goal_id: ActionGoalId, feedback: F, ) -> Result<(), RtError>

Push a feedback update to the client (may be called multiple times).

fn heartbeat(&mut self, goal_id: ActionGoalId) -> Result<(), RtError>

Publish a keepalive heartbeat for a running goal.

fn succeed(&mut self, goal_id: ActionGoalId, result: R) -> Result<(), RtError>

Mark the goal as succeeded and deliver the final result.

fn fail( &mut self, goal_id: ActionGoalId, reason: impl Into<String>, ) -> Result<(), RtError>

Mark the goal as failed and deliver the final result with an error reason.

fn poll_cancel_request(&mut self) -> Option<ActionGoalId>

Poll for a pending cancel request from the client.

fn confirm_cancel(&mut self, goal_id: ActionGoalId) -> Result<(), RtError>

Confirm that cancellation is complete; delivers a GoalStatus::Canceled result.

fn close(&mut self) -> Result<(), RtError>

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<G, F, R> ActionServer<G, F, R> for BasicActionServer<G, F, R>

where G: Send + 'static, F: Send + 'static, R: Send + 'static,