ROS2GenericAction.h

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#pragma once
 
 
 
#include "rclcUtilities.h"
 
 
 
#include <CoreMinimal.h>
 
#include <rosidl_runtime_c/action_type_support_struct.h>
 
 
 
#include "ROS2GenericAction.generated.h"
 
 
 
class RCLUE_API UROS2GenericAction : public UObject
 
{
 
 
 
public:
 
 
    virtual void Init();
 
 
 
 
    virtual void Fini();
 
 
 
    virtual void* GetGoalRequest();
 
    virtual void* GetGoalResponse();
 
    virtual void* GetResultRequest();
 
    virtual void* GetResultResponse();
 
    virtual void* GetFeedbackMessage();
 
 
 
    void* GetCancelRequest();
 
    void* GetCancelResponse();
 
 
 
    virtual const rosidl_action_type_support_t* GetTypeSupport() const;
 
 
 
 
    virtual const FString ActionGoalToString() const;
 
 
 
 
    virtual const FString ActionResultToString() const;
 
 
 
 
    virtual const FString ActionFeedbackToString() const;
 
 
 
 
    int GetCancelResponseReturnCode()
 
    {
 
        return cancel_response.return_code;
 
    }
 
 
 
private:
 
    action_msgs__srv__CancelGoal_Request cancel_request;
 
    action_msgs__srv__CancelGoal_Response cancel_response;
 
};