ros2_client::action

Struct ActionServer

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pub struct ActionServer<A>
where
    A: ActionTypes,
    A::GoalType: Message + Clone,
    A::ResultType: Message + Clone,
    A::FeedbackType: Message,
{ /* private fields */ }
Expand description

ROS 2 Action Server - Synchronous version. Please consider using AsyncActionServerinstead.

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impl<A> ActionServer<A>
where A: ActionTypes, A::GoalType: Message + Clone, A::ResultType: Message + Clone, A::FeedbackType: Message,

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pub fn name(&self) -> &Name

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pub fn goal_server( &mut self, ) -> &mut Server<AService<SendGoalRequest<A::GoalType>, SendGoalResponse>>

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pub fn cancel_server( &mut self, ) -> &mut Server<AService<CancelGoalRequest, CancelGoalResponse>>

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pub fn result_server( &mut self, ) -> &mut Server<AService<GetResultRequest, GetResultResponse<A::ResultType>>>

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pub fn feedback_publisher( &mut self, ) -> &mut Publisher<FeedbackMessage<A::FeedbackType>>

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pub fn my_status_publisher(&mut self) -> &mut Publisher<GoalStatusArray>

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pub fn receive_goal( &self, ) -> ReadResult<Option<(RmwRequestId, SendGoalRequest<A::GoalType>)>>
where <A as ActionTypes>::GoalType: 'static,

Receive a new goal, if available.

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pub fn send_goal_response( &self, req_id: RmwRequestId, resp: SendGoalResponse, ) -> WriteResult<(), ()>
where <A as ActionTypes>::GoalType: 'static,

Send a response for the specified goal request

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pub fn receive_cancel_request( &self, ) -> ReadResult<Option<(RmwRequestId, CancelGoalRequest)>>

Receive a cancel request, if available.

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pub fn send_cancel_response( &self, req_id: RmwRequestId, resp: CancelGoalResponse, ) -> WriteResult<(), ()>

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pub fn receive_result_request( &self, ) -> ReadResult<Option<(RmwRequestId, GetResultRequest)>>
where <A as ActionTypes>::ResultType: 'static,

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pub fn send_result( &self, result_request_id: RmwRequestId, resp: GetResultResponse<A::ResultType>, ) -> WriteResult<(), ()>
where <A as ActionTypes>::ResultType: 'static,

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pub fn send_feedback( &self, goal_id: GoalId, feedback: A::FeedbackType, ) -> WriteResult<(), FeedbackMessage<A::FeedbackType>>

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pub fn send_goal_statuses( &self, goal_statuses: GoalStatusArray, ) -> WriteResult<(), GoalStatusArray>

Auto Trait Implementations§

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impl<A> !Freeze for ActionServer<A>

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impl<A> !RefUnwindSafe for ActionServer<A>

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impl<A> Send for ActionServer<A>
where <A as ActionTypes>::FeedbackType: for<'de> Sized + Send, <A as ActionTypes>::ResultType: Sized + Send, <A as ActionTypes>::GoalType: Sized + Send,

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impl<A> Sync for ActionServer<A>
where <A as ActionTypes>::FeedbackType: for<'de> Sized + Sync, <A as ActionTypes>::ResultType: Sized + Sync, <A as ActionTypes>::GoalType: Sized + Sync,

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impl<A> Unpin for ActionServer<A>
where <A as ActionTypes>::FeedbackType: for<'de> Sized + Unpin, <A as ActionTypes>::ResultType: Sized + Unpin, <A as ActionTypes>::GoalType: Sized + Unpin,

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impl<A> !UnwindSafe for ActionServer<A>

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impl<T> Any for T
where T: 'static + ?Sized,

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Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

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type Error = <U as TryFrom<T>>::Error

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