#include <cp_action_client.hpp>

Inheritance diagram for smacc2::client_core_components::CpActionClient< ActionType >:

Collaboration diagram for smacc2::client_core_components::CpActionClient< ActionType >:

Public Types
using	ActionClient = rclcpp_action::Client<ActionType>

using	Goal = typename ActionType::Goal

using	Feedback = typename ActionType::Feedback

using	Result = typename ActionType::Result

using	GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

using	WrappedResult = typename GoalHandle::WrappedResult

using	SendGoalOptions = typename ActionClient::SendGoalOptions

using	GoalResponseCallback

using	FeedbackCallback = typename GoalHandle::FeedbackCallback

using	ResultCallback = typename GoalHandle::ResultCallback

Public Member Functions
	CpActionClient ()=default

	CpActionClient (const std::string &actionServerName)

virtual	~CpActionClient ()=default

std::shared_future< typename GoalHandle::SharedPtr >	sendGoal (Goal &goal, typename smacc2::SmaccSignal< void(const WrappedResult &)>::WeakPtr resultCallback=typename smacc2::SmaccSignal< void(const WrappedResult &)>::WeakPtr())

bool	cancelGoal ()

bool	isServerReady () const

void	waitForServer ()

void	onInitialize () override

template<typename TOrthogonal , typename TSourceObject >
void	onComponentInitialization ()

template<typename T >
smacc2::SmaccSignalConnection	onSucceeded (void(T::callback)(const WrappedResult &), T object)

template<typename T >
smacc2::SmaccSignalConnection	onAborted (void(T::callback)(const WrappedResult &), T object)

template<typename T >
smacc2::SmaccSignalConnection	onCancelled (void(T::callback)(const WrappedResult &), T object)

template<typename T >
smacc2::SmaccSignalConnection	onFeedback (void(T::callback)(const Feedback &), T object)

std::shared_ptr< ActionClient >	getActionClient () const

Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Public Attributes
std::optional< std::string >	actionServerName

std::optional< std::chrono::milliseconds >	serverTimeout

smacc2::SmaccSignal< void(const WrappedResult &)>	onActionSucceeded_

smacc2::SmaccSignal< void(const WrappedResult &)>	onActionAborted_

smacc2::SmaccSignal< void(const WrappedResult &)>	onActionCancelled_

smacc2::SmaccSignal< void(const Feedback &)>	onActionFeedback_

smacc2::SmaccSignal< void()>	onGoalAccepted_

smacc2::SmaccSignal< void()>	onGoalRejected_

std::function< void(const WrappedResult &)>	postSuccessEvent

std::function< void(const WrappedResult &)>	postAbortedEvent

std::function< void(const WrappedResult &)>	postCancelledEvent

std::function< void(const Feedback &)>	postFeedbackEvent

Private Member Functions
void	onFeedback (typename GoalHandle::SharedPtr, const std::shared_ptr< const Feedback > feedback_msg)

void	onResult (const WrappedResult &result_msg)

template<typename EvType >
void	postResultEvent (const WrappedResult &result)

Private Attributes
std::shared_ptr< ActionClient >	client_ = nullptr

std::optional< std::shared_future< typename GoalHandle::SharedPtr > >	lastRequest_

std::optional< std::shared_future< typename rclcpp_action::Client< ActionType >::CancelResponse::SharedPtr > >	lastCancelResponse_

FeedbackCallback	feedbackCallback_

std::mutex	actionMutex_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger () const

ISmaccStateMachine *	getStateMachine ()

Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

template<typename ActionType>
class smacc2::client_core_components::CpActionClient< ActionType >

Definition at line 36 of file cp_action_client.hpp.

Member Typedef Documentation

◆ ActionClient

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::ActionClient = rclcpp_action::Client<ActionType>

Definition at line 40 of file cp_action_client.hpp.

◆ Feedback

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::Feedback = typename ActionType::Feedback

Definition at line 42 of file cp_action_client.hpp.

◆ FeedbackCallback

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::FeedbackCallback = typename GoalHandle::FeedbackCallback

Definition at line 49 of file cp_action_client.hpp.

◆ Goal

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::Goal = typename ActionType::Goal

Definition at line 41 of file cp_action_client.hpp.

◆ GoalHandle

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

Definition at line 44 of file cp_action_client.hpp.

◆ GoalResponseCallback

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::GoalResponseCallback

Initial value:

std::function<void(std::shared_future<typename GoalHandle::SharedPtr>)>

Definition at line 47 of file cp_action_client.hpp.

◆ Result

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::Result = typename ActionType::Result

Definition at line 43 of file cp_action_client.hpp.

◆ ResultCallback

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::ResultCallback = typename GoalHandle::ResultCallback

Definition at line 50 of file cp_action_client.hpp.

◆ SendGoalOptions

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::SendGoalOptions = typename ActionClient::SendGoalOptions

Definition at line 46 of file cp_action_client.hpp.

◆ WrappedResult

template<typename ActionType >

using smacc2::client_core_components::CpActionClient< ActionType >::WrappedResult = typename GoalHandle::WrappedResult

Definition at line 45 of file cp_action_client.hpp.

Constructor & Destructor Documentation

◆ CpActionClient() [1/2]

template<typename ActionType >

smacc2::client_core_components::CpActionClient< ActionType >::CpActionClient ( )

default

◆ CpActionClient() [2/2]

template<typename ActionType >

smacc2::client_core_components::CpActionClient< ActionType >::CpActionClient ( const std::string & actionServerName )

inline

Definition at line 73 of file cp_action_client.hpp.

73: actionServerName(actionServerName) {}

smacc2::client_core_components::CpActionClient::actionServerName

std::optional< std::string > actionServerName

Definition cp_action_client.hpp:53

◆ ~CpActionClient()

template<typename ActionType >

virtual smacc2::client_core_components::CpActionClient< ActionType >::~CpActionClient ( )

virtualdefault

Member Function Documentation

◆ cancelGoal()

template<typename ActionType >

bool smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal ( )

inline

Definition at line 147 of file cp_action_client.hpp.

  {
    std::lock_guard<std::mutex> lock(actionMutex_);
 
    if (client_ != nullptr && lastRequest_ && lastRequest_->valid())
    {
      RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] Cancelling current goal");
 
      auto cancelFuture = client_->async_cancel_all_goals();
      lastCancelResponse_ = cancelFuture;
      return true;
    }
    else
    {
      RCLCPP_WARN_STREAM(getLogger(), "[" << this->getName() << "] No active goal to cancel");
      return false;
    }
  }

References smacc2::client_core_components::CpActionClient< ActionType >::actionMutex_, smacc2::client_core_components::CpActionClient< ActionType >::client_, smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::client_core_components::CpActionClient< ActionType >::lastCancelResponse_, and smacc2::client_core_components::CpActionClient< ActionType >::lastRequest_.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::cancelGoal().

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◆ getActionClient()

template<typename ActionType >

std::shared_ptr< ActionClient > smacc2::client_core_components::CpActionClient< ActionType >::getActionClient ( ) const

inline

Definition at line 255 of file cp_action_client.hpp.

255{ return client_; }

References smacc2::client_core_components::CpActionClient< ActionType >::client_.

Referenced by smacc2::client_behaviors::CbWaitActionServer2< ActionT >::onEntry().

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◆ isServerReady()

template<typename ActionType >

bool smacc2::client_core_components::CpActionClient< ActionType >::isServerReady ( ) const

inline

Definition at line 166 of file cp_action_client.hpp.

166{ return client_ && client_->action_server_is_ready(); }

References smacc2::client_core_components::CpActionClient< ActionType >::client_.

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal().

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◆ onAborted()

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_core_components::CpActionClient< ActionType >::onAborted	(	void(T::*	callback )(const WrappedResult &),
		T *	object )

inline

Definition at line 237 of file cp_action_client.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onActionAborted_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ onCancelled()

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_core_components::CpActionClient< ActionType >::onCancelled	(	void(T::*	callback )(const WrappedResult &),
		T *	object )

inline

Definition at line 243 of file cp_action_client.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onActionCancelled_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ onComponentInitialization()

template<typename ActionType >

template<typename TOrthogonal , typename TSourceObject >

void smacc2::client_core_components::CpActionClient< ActionType >::onComponentInitialization ( )

inline

Definition at line 203 of file cp_action_client.hpp.

  {
    // Event source type is THIS COMPONENT, not the owning client: the event
    // payload type is TSource::WrappedResult, and typing it on the client would
    // wrongly assume the client's WrappedResult typedef matches this component's
    // action - which breaks as soon as a client owns action clients of more than
    // one action type. Nothing in-tree listens to client-typed events from this
    // component (domain interfaces like CpNav2ActionInterface post those).
    postSuccessEvent = [this](const WrappedResult & result)
    { this->postResultEvent<EvActionSucceeded<CpActionClient<ActionType>, TOrthogonal>>(result); };
 
    postAbortedEvent = [this](const WrappedResult & result)
    { this->postResultEvent<EvActionAborted<CpActionClient<ActionType>, TOrthogonal>>(result); };
 
    postCancelledEvent = [this](const WrappedResult & result)
    { this->postResultEvent<EvActionCancelled<CpActionClient<ActionType>, TOrthogonal>>(result); };
 
    postFeedbackEvent = [this](const Feedback & feedback)
    {
      auto actionFeedbackEvent = new EvActionFeedback<Feedback, TOrthogonal>();
      actionFeedbackEvent->feedbackMessage = feedback;
      this->postEvent(actionFeedbackEvent);
      RCLCPP_DEBUG(getLogger(), "[%s] FEEDBACK EVENT", this->getName().c_str());
    };
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::client_core_components::CpActionClient< ActionType >::postAbortedEvent, smacc2::client_core_components::CpActionClient< ActionType >::postCancelledEvent, smacc2::ISmaccComponent::postEvent(), smacc2::client_core_components::CpActionClient< ActionType >::postFeedbackEvent, smacc2::client_core_components::CpActionClient< ActionType >::postResultEvent(), and smacc2::client_core_components::CpActionClient< ActionType >::postSuccessEvent.

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◆ onFeedback() [1/2]

template<typename ActionType >

void smacc2::client_core_components::CpActionClient< ActionType >::onFeedback	(	typename GoalHandle::SharedPtr	,
		const std::shared_ptr< const Feedback >	feedback_msg )

inlineprivate

Definition at line 266 of file cp_action_client.hpp.

  {
    onActionFeedback_(*feedback_msg);
    postFeedbackEvent(*feedback_msg);
  }

References smacc2::client_core_components::CpActionClient< ActionType >::onActionFeedback_, and smacc2::client_core_components::CpActionClient< ActionType >::postFeedbackEvent.

◆ onFeedback() [2/2]

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_core_components::CpActionClient< ActionType >::onFeedback	(	void(T::*	callback )(const Feedback &),
		T *	object )

inline

Definition at line 249 of file cp_action_client.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onActionFeedback_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::onInitialize(), and smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ onInitialize()

template<typename ActionType >

void smacc2::client_core_components::CpActionClient< ActionType >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 180 of file cp_action_client.hpp.

  {
    if (!actionServerName)
    {
      RCLCPP_ERROR_STREAM(getLogger(), "[" << this->getName() << "] Action server name not set!");
      return;
    }
 
    RCLCPP_INFO_STREAM(
      getLogger(),
      "[" << this->getName() << "] Initializing action client for: " << *actionServerName);
 
    client_ = rclcpp_action::create_client<ActionType>(getNode(), *actionServerName);
    RCLCPP_INFO_STREAM(
      getLogger(),
      "[" << this->getName() << "] DONE Initializing action client for: " << *actionServerName);
 
    // Set up feedback callback
    feedbackCallback_ = [this](auto goalHandle, auto feedback)
    { this->onFeedback(goalHandle, feedback); };
  }

References smacc2::client_core_components::CpActionClient< ActionType >::actionServerName, smacc2::client_core_components::CpActionClient< ActionType >::client_, smacc2::client_core_components::CpActionClient< ActionType >::feedbackCallback_, smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::ISmaccComponent::getNode(), and smacc2::client_core_components::CpActionClient< ActionType >::onFeedback().

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◆ onResult()

template<typename ActionType >

void smacc2::client_core_components::CpActionClient< ActionType >::onResult ( const WrappedResult & result_msg )

inlineprivate

Definition at line 274 of file cp_action_client.hpp.

  {
    const auto & resultType = result_msg.code;
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << this->getName() << "] Action result ["
                       << rclcpp_action::to_string(result_msg.goal_id) << "]: " << (int)resultType);
 
    if (resultType == rclcpp_action::ResultCode::SUCCEEDED)
    {
      RCLCPP_INFO(getLogger(), "[%s] Action result: Success", this->getName().c_str());
      onActionSucceeded_(result_msg);
      postSuccessEvent(result_msg);
    }
    else if (resultType == rclcpp_action::ResultCode::ABORTED)
    {
      RCLCPP_INFO(getLogger(), "[%s] Action result: Aborted", this->getName().c_str());
      onActionAborted_(result_msg);
      postAbortedEvent(result_msg);
    }
    else if (resultType == rclcpp_action::ResultCode::CANCELED)
    {
      RCLCPP_INFO(getLogger(), "[%s] Action result: Cancelled", this->getName().c_str());
      onActionCancelled_(result_msg);
      postCancelledEvent(result_msg);
    }
    else
    {
      RCLCPP_WARN(
        getLogger(), "[%s] Action result: Unhandled type: %d", this->getName().c_str(),
        (int)resultType);
    }
  }

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::client_core_components::CpActionClient< ActionType >::onActionAborted_, smacc2::client_core_components::CpActionClient< ActionType >::onActionCancelled_, smacc2::client_core_components::CpActionClient< ActionType >::onActionSucceeded_, smacc2::client_core_components::CpActionClient< ActionType >::postAbortedEvent, smacc2::client_core_components::CpActionClient< ActionType >::postCancelledEvent, and smacc2::client_core_components::CpActionClient< ActionType >::postSuccessEvent.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::sendGoal().

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◆ onSucceeded()

template<typename ActionType >

template<typename T >

smacc2::SmaccSignalConnection smacc2::client_core_components::CpActionClient< ActionType >::onSucceeded	(	void(T::*	callback )(const WrappedResult &),
		T *	object )

inline

Definition at line 231 of file cp_action_client.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onActionSucceeded_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::onStateOrthogonalAllocation().

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◆ postResultEvent()

template<typename ActionType >

template<typename EvType >

void smacc2::client_core_components::CpActionClient< ActionType >::postResultEvent ( const WrappedResult & result )

inlineprivate

Definition at line 309 of file cp_action_client.hpp.

  {
    auto * ev = new EvType();
    ev->resultMessage = result;
    RCLCPP_INFO(
      getLogger(), "[%s] Posting event: %s", this->getName().c_str(),
      smacc2::demangleSymbol(typeid(ev).name()).c_str());
    this->postEvent(ev);
  }

References smacc2::introspection::demangleSymbol(), smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), and smacc2::ISmaccComponent::postEvent().

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::onComponentInitialization().

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◆ sendGoal()

template<typename ActionType >

std::shared_future< typename GoalHandle::SharedPtr > smacc2::client_core_components::CpActionClient< ActionType >::sendGoal	(	Goal &	goal,
		typename smacc2::SmaccSignal< void(const WrappedResult &)>::WeakPtr	resultCallback = typename smacc2::SmaccSignal<void(const WrappedResult &)>::WeakPtr() )

inline

Definition at line 78 of file cp_action_client.hpp.

  {
    std::lock_guard<std::mutex> lock(actionMutex_);
 
    if (client_ == nullptr)
    {
      RCLCPP_ERROR_STREAM(
        getLogger(), "[" << this->getName()
                         << "] Cannot send goal: action client not initialized (was the "
                            "component created with an action server name?)");
      return std::shared_future<typename GoalHandle::SharedPtr>();
    }
 
    SendGoalOptions options;
 
    // Set up feedback callback
    options.feedback_callback = feedbackCallback_;
 
    // Goal acceptance/rejection notification. Without this a rejected goal is
    // silent: the result callback never fires and no signal is emitted.
    options.goal_response_callback = [this](typename GoalHandle::SharedPtr goalHandle)
    {
      if (goalHandle != nullptr)
      {
        RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] Goal accepted by server");
        onGoalAccepted_();
      }
      else
      {
        RCLCPP_ERROR_STREAM(getLogger(), "[" << this->getName() << "] Goal rejected by server");
        onGoalRejected_();
      }
    };
 
    // Set up result callback
    options.result_callback = [this, resultCallback](const WrappedResult & result)
    {
      std::lock_guard<std::mutex> lock(actionMutex_);
 
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << this->getName() << "] Action result callback, goal id: "
                         << rclcpp_action::to_string(result.goal_id));
 
      auto resultCallbackPtr = resultCallback.lock();
      if (resultCallbackPtr != nullptr)
      {
        RCLCPP_INFO_STREAM(getLogger(), "[" << this->getName() << "] Calling user result callback");
        (*resultCallbackPtr)(result);
      }
      else
      {
        RCLCPP_INFO_STREAM(
          getLogger(), "[" << this->getName() << "] Using default result handling");
        this->onResult(result);
      }
    };
 
    RCLCPP_INFO_STREAM(
      getLogger(),
      "[" << this->getName() << "] Sending goal to action server: " << (long)client_.get());
 
    auto goalFuture = client_->async_send_goal(goal, options);
    lastRequest_ = goalFuture;
 
    return goalFuture;
  }

References smacc2::client_core_components::CpActionClient< ActionType >::actionMutex_, smacc2::client_core_components::CpActionClient< ActionType >::client_, smacc2::client_core_components::CpActionClient< ActionType >::feedbackCallback_, smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::client_core_components::CpActionClient< ActionType >::lastRequest_, smacc2::client_core_components::CpActionClient< ActionType >::onGoalAccepted_, smacc2::client_core_components::CpActionClient< ActionType >::onGoalRejected_, and smacc2::client_core_components::CpActionClient< ActionType >::onResult().

Referenced by smacc2::client_behavior_bases::CbActionClientBehaviorBase< TAction >::sendGoal().

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◆ waitForServer()

template<typename ActionType >

void smacc2::client_core_components::CpActionClient< ActionType >::waitForServer ( )

inline

Definition at line 168 of file cp_action_client.hpp.

  {
    if (client_)
    {
      RCLCPP_INFO_STREAM(
        getLogger(),
        "[" << this->getName() << "] Waiting for action server: " << *actionServerName);
      client_->wait_for_action_server();
    }
  }

References smacc2::client_core_components::CpActionClient< ActionType >::client_, smacc2::ISmaccComponent::getLogger(), and smacc2::ISmaccComponent::getName().

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Member Data Documentation

◆ actionMutex_

template<typename ActionType >

std::mutex smacc2::client_core_components::CpActionClient< ActionType >::actionMutex_

private

Definition at line 264 of file cp_action_client.hpp.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal(), and smacc2::client_core_components::CpActionClient< ActionType >::sendGoal().

◆ actionServerName

template<typename ActionType >

std::optional<std::string> smacc2::client_core_components::CpActionClient< ActionType >::actionServerName

Definition at line 53 of file cp_action_client.hpp.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::onInitialize().

◆ client_

template<typename ActionType >

std::shared_ptr<ActionClient> smacc2::client_core_components::CpActionClient< ActionType >::client_ = nullptr

private

Definition at line 258 of file cp_action_client.hpp.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal(), smacc2::client_core_components::CpActionClient< ActionType >::getActionClient(), smacc2::client_core_components::CpActionClient< ActionType >::isServerReady(), smacc2::client_core_components::CpActionClient< ActionType >::onInitialize(), smacc2::client_core_components::CpActionClient< ActionType >::sendGoal(), and smacc2::client_core_components::CpActionClient< ActionType >::waitForServer().

◆ feedbackCallback_

template<typename ActionType >

FeedbackCallback smacc2::client_core_components::CpActionClient< ActionType >::feedbackCallback_

private

Definition at line 263 of file cp_action_client.hpp.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::onInitialize(), and smacc2::client_core_components::CpActionClient< ActionType >::sendGoal().

◆ lastCancelResponse_

template<typename ActionType >

std::optional< std::shared_future<typename rclcpp_action::Client<ActionType>::CancelResponse::SharedPtr> > smacc2::client_core_components::CpActionClient< ActionType >::lastCancelResponse_

private

Definition at line 262 of file cp_action_client.hpp.

Referenced by smacc2::client_core_components::CpActionClient< ActionType >::cancelGoal().