roslib/dist/src/core/Action.d.ts

The standard ROS Javascript Library

import { default as Ros } from './Ros.ts';
/**
 * A ROS 2 action client.
 */
export default class Action<TGoal = unknown, TFeedback = unknown, TResult = unknown> {
    #private;
    isAdvertised: boolean;
    ros: Ros;
    name: string;
    actionType: string;
    /**
     * @param options
     * @param options.ros - The ROSLIB.Ros connection handle.
     * @param options.name - The action name, like '/fibonacci'.
     * @param options.actionType - The action type, like 'example_interfaces/Fibonacci'.
     */
    constructor({ ros, name, actionType, }: {
        ros: Ros;
        name: string;
        actionType: string;
    });
    /**
     * Sends an action goal. Returns the feedback in the feedback callback while the action is running
     * and the result in the result callback when the action is completed.
     * Does nothing if this action is currently advertised.
     *
     * @param goal - The action goal to send.
     * @param resultCallback - The callback function when the action is completed.
     * @param [feedbackCallback] - The callback function when the action publishes feedback.
     * @param [failedCallback] - The callback function when the action failed.
     */
    sendGoal(goal: TGoal, resultCallback: (result: TResult) => void, feedbackCallback?: (feedback: TFeedback) => void, failedCallback?: (error: string) => void): string | undefined;
    /**
     * Cancels an action goal.
     *
     * @param id - The ID of the action goal to cancel.
     */
    cancelGoal(id: string): void;
    /**
     * Cancels all action goals.
     */
    cancelAllGoals(): void;
    /**
     * Advertise the action. This turns the Action object from a client
     * into a server. The callback will be called with every goal sent to this action.
     *
     * @param actionCallback - This works similarly to the callback for a C++ action.
     * @param cancelCallback - A callback function to execute when the action is canceled.
     */
    advertise(actionCallback: (goal: TGoal, id: string) => void, cancelCallback: (id: string) => void): void;
    /**
     * Unadvertise a previously advertised action.
     */
    unadvertise(): void;
    /**
     * Helper function to send action feedback inside an action handler.
     *
     * @param id - The action goal ID.
     * @param feedback - The feedback to send.
     */
    sendFeedback(id: string, feedback: TFeedback): void;
    /**
     * Helper function to set an action as succeeded.
     *
     * @param id - The action goal ID.
     * @param result - The result to set.
     */
    setSucceeded(id: string, result: TResult): void;
    /**
     * Helper function to set an action as canceled.
     *
     * @param id - The action goal ID.
     * @param result - The result to set.
     */
    setCanceled(id: string, result: TResult): void;
    /**
     * Helper function to set an action as failed.
     *
     * @param id - The action goal ID.
     */
    setFailed(id: string): void;
}