rclUE
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Class implementing ROS2 action servers. Wrapper class of rclc action server. Callbacks are set through the SetDelegates. More...
#include <ROS2ActionServer.h>
Public Member Functions | |
virtual void | Destroy () override |
Destroy action server from rclc. More... | |
virtual void | ProcessReady (rcl_wait_set_t *wait_set) override |
Determine the relevant action server functions to call. More... | |
void | ProcessAndSendCancelResponse (const int InReturnCode) |
Process and send cancel response with rcl_action_process_cancel_request. More... | |
void | SendGoalResponse () |
Send action goal response with rcl_action_send_goal_response. More... | |
void | SendFeedback () |
Update and send feedback with rcl_action_publish_feedback. More... | |
void | SendResultResponse () |
Update and send feedback with rcl_action_send_result_response. More... | |
void | SetDelegates (const FActionCallback &InGoalDelegate, const FSimpleCallback &InCancelDelegate, const FSimpleCallback &InResultDelegate) |
Set the Delegates. More... | |
Public Member Functions inherited from UROS2Action | |
virtual bool | InitializeWithROS2 (UROS2NodeComponent *InROS2Node) |
Initialize action. More... | |
virtual bool | Init () |
Initialize action and action component. More... | |
virtual bool | InitializeAction () |
Create and Initize action. More... | |
Public Attributes | |
rcl_action_server_t | server |
ROS2 action server from rclc. | |
Public Attributes inherited from UROS2Action | |
FString | ActionName |
TSubclassOf< UROS2GenericAction > | ActionClass |
type of action More... | |
UROS2GenericAction * | Action |
ROS2 Action Instance. More... | |
UROS2NodeComponent * | OwnerNode |
ROS2Node which own this action. More... | |
TEnumAsByte< UROS2State > | State = UROS2State::Created |
Action state. More... | |
UROS2QoS | CancelQoS = UROS2QoS::Services |
Quality of Cancel. More... | |
UROS2QoS | GoalQoS = UROS2QoS::Services |
Quality of Goal. More... | |
UROS2QoS | ResultQoS = UROS2QoS::Services |
Quality of Result. More... | |
UROS2QoS | FeedbackQoS = UROS2QoS::Default |
Quality of Feedback. More... | |
Private Member Functions | |
virtual void | InitializeActionComponent () override |
Initialize ROS2 action server with rcl_action_server_init. More... | |
Additional Inherited Members |
Class implementing ROS2 action servers. Wrapper class of rclc action server. Callbacks are set through the SetDelegates.
method
UCLASS(ClassGroup = (Custom), Blueprintable, BlueprintType, meta = (BlueprintSpawnableComponent))
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overridevirtual |
Destroy action server from rclc.
Reimplemented from UROS2Action.
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overrideprivatevirtual |
Initialize ROS2 action server with rcl_action_server_init.
Set QOS for all goal, result, cancel, feedback and status
Reimplemented from UROS2Action.
void UROS2ActionServer::ProcessAndSendCancelResponse | ( | const int | InReturnCode | ) |
Process and send cancel response with rcl_action_process_cancel_request.
InReturnCode | return code |
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overridevirtual |
Determine the relevant action server functions to call.
wait_set |
Reimplemented from UROS2Action.
void UROS2ActionServer::SendFeedback | ( | ) |
Update and send feedback with rcl_action_publish_feedback.
void UROS2ActionServer::SendGoalResponse | ( | ) |
Send action goal response with rcl_action_send_goal_response.
void UROS2ActionServer::SendResultResponse | ( | ) |
Update and send feedback with rcl_action_send_result_response.
void UROS2ActionServer::SetDelegates | ( | const FActionCallback & | InGoalDelegate, |
const FSimpleCallback & | InCancelDelegate, | ||
const FSimpleCallback & | InResultDelegate | ||
) |