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Backport 2495 to iron #2530

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Backport 2495 to iron #2530

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7ea45e7
backport client changes
May 14, 2024
8a8a7e5
backported server changes
May 14, 2024
429bc62
run uncrustify
May 14, 2024
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18 changes: 15 additions & 3 deletions rclcpp_action/include/rclcpp_action/server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/waitable.hpp"
#include "action_msgs/srv/cancel_goal.hpp"

#include "rclcpp_action/visibility_control.hpp"
#include "rclcpp_action/server_goal_handle.hpp"
Expand Down Expand Up @@ -77,6 +78,7 @@ class ServerBase : public rclcpp::Waitable
GoalService,
ResultService,
CancelService,
Expired
};

RCLCPP_ACTION_PUBLIC
Expand Down Expand Up @@ -279,19 +281,29 @@ class ServerBase : public rclcpp::Waitable
/// \internal
RCLCPP_ACTION_PUBLIC
void
execute_goal_request_received(std::shared_ptr<void> & data);
execute_goal_request_received(
rcl_ret_t ret,
rcl_action_goal_info_t goal_info,
rmw_request_id_t request_header,
std::shared_ptr<void> message);

/// Handle a request to cancel goals on the server
/// \internal
RCLCPP_ACTION_PUBLIC
void
execute_cancel_request_received(std::shared_ptr<void> & data);
execute_cancel_request_received(
rcl_ret_t ret,
std::shared_ptr<action_msgs::srv::CancelGoal::Request> request,
rmw_request_id_t request_header);

/// Handle a request to get the result of an action
/// \internal
RCLCPP_ACTION_PUBLIC
void
execute_result_request_received(std::shared_ptr<void> & data);
execute_result_request_received(
rcl_ret_t ret,
std::shared_ptr<void> result_request,
rmw_request_id_t request_header);

/// Handle a timeout indicating a completed goal should be forgotten by the server
/// \internal
Expand Down
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