Struct BasicActionServer 

pub struct BasicActionServer<G, F, R> { /* private fields */ }

Implementations

impl<G, F, R> BasicActionServer<G, F, R>

pub fn new(action_name: impl Into<String>, schema: ActionSchema) -> Self

pub fn with_channel( action_name: impl Into<String>, schema: ActionSchema, channel: Arc<ActionChannel<G, F, R>>, ) -> Self

pub fn inject_goal(&mut self, goal_id: ActionGoalId, goal: G)

Test helper: inject a goal directly without going through the channel (standalone mode).

Trait Implementations

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

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

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).

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>