ROS2ActionServer.h

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#pragma once
 
 
 
#include "ROS2Action.h"
 
#include "ROS2NodeComponent.h"
 
 
 
#include <rcl_action/action_server.h>
 
 
 
#include "ROS2ActionServer.generated.h"
 
 
 
class RCLUE_API UROS2ActionServer : public UROS2Action
 
{
 
 
 
public:
 
    static UROS2ActionServer* CreateActionServer(UObject* InOwner,
 
                                                 const FString& InActionName,
 
                                                 const TSubclassOf<UROS2GenericAction>& InActionClass,
 
                                                 const FActionCallback& InGoalDelegate,
 
                                                 const FSimpleCallback& InResultDelegate,
 
                                                 const FSimpleCallback& InCancelDelegate,
 
                                                 const UROS2QoS InGoalQoS = UROS2QoS::Services,
 
                                                 const UROS2QoS InResultQoS = UROS2QoS::Services,
 
                                                 const UROS2QoS InFeedbackQoS = UROS2QoS::Default,
 
                                                 const UROS2QoS InCancelQoS = UROS2QoS::Services);
 
 
 
    virtual void Destroy() override;
 
 
 
    virtual void ProcessReady(rcl_wait_set_t* wait_set) override;
 
 
 
    void ProcessAndSendCancelResponse(const int InReturnCode);
 
 
 
    void SendGoalResponse();
 
 
 
    void SendFeedback();
 
 
 
    void SendResultResponse();
 
 
 
    void SetDelegates(const FActionCallback& InGoalDelegate,
 
                      const FSimpleCallback& InCancelDelegate,
 
                      const FSimpleCallback& InResultDelegate);
 
 
 
 
    rcl_action_server_t server;
 
 
 
private:
 
    rcl_clock_t ros_clock;
 
    rmw_request_id_t goal_req_id;
 
    rmw_request_id_t result_req_id;
 
    rmw_request_id_t cancel_req_id;
 
 
 
    FActionCallback GoalDelegate;
 
    FSimpleCallback ResultDelegate;
 
    FSimpleCallback CancelDelegate;
 
 
 
    virtual void InitializeActionComponent() override;
 
};
 
 
 
class RCLUE_API UROS2ActionServerComponent : public UActorComponent
 
{
 
 
 
public:
 
 
    UROS2ActionServer* ActionServer = nullptr;
 
 
 
 
 
    FString ActionName = TEXT("");
 
 
 
 
 
    TSubclassOf<UROS2GenericAction> ActionClass;
 
 
 
 
 
    UROS2QoS CancelQoS = UROS2QoS::Services;
 
 
 
 
 
    UROS2QoS GoalQoS = UROS2QoS::Services;
 
 
 
 
 
    UROS2QoS ResultQoS = UROS2QoS::Services;
 
 
 
 
 
    UROS2QoS FeedbackQoS = UROS2QoS::Default;
 
 
 
    FActionCallback GoalDelegate;
 
    FSimpleCallback ResultDelegate;
 
    FSimpleCallback CancelDelegate;
 
 
 
    virtual void BeginPlay() override
 
    {
 
        if (ActionServer == nullptr)
 
        {
 
            ActionServer = UROS2ActionServer::CreateActionServer(this,
 
                                                                 ActionName,
 
                                                                 ActionClass,
 
                                                                 GoalDelegate,
 
                                                                 ResultDelegate,
 
                                                                 CancelDelegate,
 
                                                                 GoalQoS,
 
                                                                 ResultQoS,
 
                                                                 FeedbackQoS,
 
                                                                 CancelQoS);
 
        }
 
        Super::BeginPlay();
 
    };
 
};