realtime_tools::RealtimeServerGoalHandle< Action > Class Template Reference

Public Member Functions
	RealtimeServerGoalHandle (std::shared_ptr< GoalHandle > &gh, const ResultSharedPtr &preallocated_result=nullptr, const FeedbackSharedPtr &preallocated_feedback=nullptr)
	RealtimeServerGoalHandle (std::shared_ptr< GoalHandle > &gh, const ResultSharedPtr &preallocated_result, const FeedbackSharedPtr &preallocated_feedback, rclcpp::Logger logger)
void	setAborted (ResultSharedPtr result=nullptr)
void	setCanceled (ResultSharedPtr result=nullptr)
void	setSucceeded (ResultSharedPtr result=nullptr)
bool	setFeedback (FeedbackSharedPtr feedback=nullptr)
	Set feedback to be published by runNonRealtime().
template<typename FeedbackUpdateCallback >
bool	trySetFeedback (FeedbackUpdateCallback &&update_feedback)
	Update preallocated feedback to be published by runNonRealtime().
void	execute ()
bool	valid ()
void	runNonRealtime ()

Public Attributes
std::shared_ptr< GoalHandle >	gh_
ResultSharedPtr	preallocated_result_
FeedbackSharedPtr	preallocated_feedback_

Member Function Documentation

setFeedback()

template<class Action >

bool realtime_tools::RealtimeServerGoalHandle< Action >::setFeedback ( FeedbackSharedPtr  feedback = nullptr )

inline

Set feedback to be published by runNonRealtime().

This method uses a non-blocking lock acquisition with try_to_lock() and is safe to call from real-time context without causing thread blocking or priority inversion. If the lock cannot be acquired (because runNonRealtime() is holding it), the update is silently skipped to avoid blocking the real-time thread.

The feedback pointer is stored and the non-RT thread will publish it on the next runNonRealtime() call, provided the goal handle is in executing state.

Parameters

feedback

Shared pointer to feedback message. Can be nullptr to clear pending feedback. If a valid pointer is provided, the caller must not modify it while this handle may publish it. Use trySetFeedback() to safely reuse the handle's preallocated feedback message.

Returns

true if the lock was acquired and feedback was successfully set, false if the lock could not be acquired (feedback update was dropped).

Note

If the mutex lock cannot be acquired, the feedback update is dropped without notification. This is intentional to preserve real-time guarantees. Check the return value if you need to know whether the update succeeded.

Feedback is only published if the goal is currently executing. If feedback is set after the goal transitions out of executing state, it will be discarded.

See also

runNonRealtime() for the counterpart that publishes the feedback.

trySetFeedback() for safe preallocated feedback reuse.

trySetFeedback()

template<class Action >

template<typename FeedbackUpdateCallback >

bool realtime_tools::RealtimeServerGoalHandle< Action >::trySetFeedback ( FeedbackUpdateCallback &&  update_feedback )

inline

Update preallocated feedback to be published by runNonRealtime().

The callback runs while holding the same mutex used by runNonRealtime(), ensuring that the feedback cannot be modified while it is being published. The lock is acquired without blocking and the callback is not invoked if it cannot be acquired.

Parameters

update_feedback

Callback receiving a mutable reference to the preallocated feedback message.

Returns

true if the feedback was updated, false if the lock could not be acquired.

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The documentation for this class was generated from the following file:

• realtime_tools/realtime_tools/include/realtime_tools/realtime_server_goal_handle.hpp