Program Listing for File generic_client.hpp

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// Copyright 2025 Sony Group Corporation.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RCLCPP_ACTION__GENERIC_CLIENT_HPP_
#define RCLCPP_ACTION__GENERIC_CLIENT_HPP_

#include <cstddef>
#include <functional>
#include <future>
#include <map>
#include <memory>
#include <mutex>
#include <string>

#include "action_msgs/srv/cancel_goal.hpp"
#include "action_msgs/msg/goal_info.hpp"
#include "action_msgs/msg/goal_status_array.hpp"

#include "rclcpp_action/client_base.hpp"
#include "rclcpp_action/generic_client_goal_handle.hpp"
#include "rcpputils/shared_library.hpp"
#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"

#include "unique_identifier_msgs/msg/uuid.hpp"

namespace rclcpp_action
{

class GenericClient : public ClientBase
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(GenericClient)

  using Goal = void *;  // Deserialized data pointer of goal
  using GoalRequest = void *;  // Deserialized data pointer of goal request (uuid + Goal)
  using CancelRequest = typename action_msgs::srv::CancelGoal_Request;
  using CancelResponse = typename action_msgs::srv::CancelGoal_Response;
  using WrappedResult = typename GenericClientGoalHandle::WrappedResult;
  using GoalResponseCallback = std::function<void (typename GenericClientGoalHandle::SharedPtr)>;
  using FeedbackCallback = typename GenericClientGoalHandle::FeedbackCallback;
  using ResultCallback = typename GenericClientGoalHandle::ResultCallback;
  using CancelCallback = std::function<void (CancelResponse::SharedPtr)>;

  using IntrospectionMessageMembersPtr =
    const rosidl_typesupport_introspection_cpp::MessageMembers *;


  struct SendGoalOptions
  {
    SendGoalOptions()
    : goal_response_callback(nullptr),
      feedback_callback(nullptr),
      result_callback(nullptr)
    {
    }


    GoalResponseCallback goal_response_callback;

    FeedbackCallback feedback_callback;

    ResultCallback result_callback;
  };


  RCLCPP_ACTION_PUBLIC
  GenericClient(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
    const std::string & action_name,
    std::shared_ptr<rcpputils::SharedLibrary> typesupport_lib,
    const rosidl_action_type_support_t * action_typesupport_handle,
    const rcl_action_client_options_t & client_options = rcl_action_client_get_default_options());


  RCLCPP_ACTION_PUBLIC
  std::shared_future<typename GenericClientGoalHandle::SharedPtr>
  async_send_goal(
    const Goal goal,
    size_t goal_size,
    const SendGoalOptions & options = SendGoalOptions());


  RCLCPP_ACTION_PUBLIC
  std::shared_future<typename GenericClientGoalHandle::SharedPtr>
  async_send_goal(
    const GoalRequest goal_request,
    const SendGoalOptions & options = SendGoalOptions());


  RCLCPP_ACTION_PUBLIC
  std::shared_future<WrappedResult>
  async_get_result(
    typename GenericClientGoalHandle::SharedPtr goal_handle,
    ResultCallback result_callback = nullptr);


  RCLCPP_ACTION_PUBLIC
  std::shared_future<typename CancelResponse::SharedPtr>
  async_cancel_goal(
    typename GenericClientGoalHandle::SharedPtr goal_handle,
    CancelCallback cancel_callback = nullptr);


  RCLCPP_ACTION_PUBLIC
  std::shared_future<typename CancelResponse::SharedPtr>
  async_cancel_all_goals(CancelCallback cancel_callback = nullptr);


  RCLCPP_ACTION_PUBLIC
  void
  stop_callbacks(typename GenericClientGoalHandle::SharedPtr goal_handle);


  RCLCPP_ACTION_PUBLIC
  void
  stop_callbacks(const GoalUUID & goal_id);


  RCLCPP_ACTION_PUBLIC
  std::shared_future<typename CancelResponse::SharedPtr>
  async_cancel_goals_before(
    const rclcpp::Time & stamp,
    CancelCallback cancel_callback = nullptr);

  RCLCPP_ACTION_PUBLIC
  virtual
  ~GenericClient();

private:
  std::shared_ptr<void>
  create_message(IntrospectionMessageMembersPtr message_members) const;

  std::shared_ptr<void>
  create_goal_response() const override
  {
    return create_message(goal_service_response_type_members_);
  }

  std::shared_ptr<void>
  create_result_request() const
  {
    return create_message(result_service_request_type_members_);
  }

  std::shared_ptr<void>
  create_result_response() const override
  {
    return create_message(result_service_response_type_members_);
  }

  std::shared_ptr<void>
  create_cancel_response() const override
  {
    return create_message(cancel_service_response_type_members_);
  }

  std::shared_ptr<void>
  create_feedback_message() const override
  {
    return create_message(feedback_type_members_);
  }

  void
  handle_feedback_message(std::shared_ptr<void> message) override;

  std::shared_ptr<void>
  create_status_message() const override
  {
    using GoalStatusMessage = action_msgs::msg::GoalStatusArray;
    return std::shared_ptr<void>(new GoalStatusMessage());
  }

  void
  handle_status_message(std::shared_ptr<void> message) override;

  void
  make_result_aware(typename GenericClientGoalHandle::SharedPtr goal_handle);

  std::shared_future<typename CancelResponse::SharedPtr>
  async_cancel(
    typename CancelRequest::SharedPtr cancel_request,
    CancelCallback cancel_callback = nullptr);

  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
  IntrospectionMessageMembersPtr goal_service_request_type_members_;
  IntrospectionMessageMembersPtr goal_service_response_type_members_;
  IntrospectionMessageMembersPtr result_service_request_type_members_;
  IntrospectionMessageMembersPtr result_service_response_type_members_;
  IntrospectionMessageMembersPtr cancel_service_response_type_members_;
  IntrospectionMessageMembersPtr feedback_type_members_;

  std::map<GoalUUID, typename GenericClientGoalHandle::WeakPtr> goal_handles_;
  std::recursive_mutex goal_handles_mutex_;
};
}  // namespace rclcpp_action
#endif  // RCLCPP_ACTION__GENERIC_CLIENT_HPP_