The ActionServerBase implements the logic for an ActionServer. More...

#include <action_server_base.h>

Inheritance diagram for actionlib::ActionServerBase< ActionSpec >:

Public Types
typedef ServerGoalHandle< ActionSpec >	GoalHandle

Public Member Functions
	ActionServerBase (boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb, bool auto_start=false)
	Constructor for an ActionServer. More...

void	cancelCallback (const boost::shared_ptr< const actionlib_msgs::GoalID > &goal_id)
	The ROS callback for cancel requests coming into the ActionServerBase. More...

void	goalCallback (const boost::shared_ptr< const ActionGoal > &goal)
	The ROS callback for goals coming into the ActionServerBase. More...

void	registerCancelCallback (boost::function< void(GoalHandle)> cb)
	Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback. More...

void	registerGoalCallback (boost::function< void(GoalHandle)> cb)
	Register a callback to be invoked when a new goal is received, this will replace any previously registered callback. More...

void	start ()
	Explicitly start the action server, used it auto_start is set to false. More...

virtual	~ActionServerBase ()
	Destructor for the ActionServerBase. More...

Protected Member Functions
virtual void	initialize ()=0
	Initialize all ROS connections and setup timers. More...

virtual void	publishFeedback (const actionlib_msgs::GoalStatus &status, const Feedback &feedback)=0
	Publishes feedback for a given goal. More...

virtual void	publishResult (const actionlib_msgs::GoalStatus &status, const Result &result)=0
	Publishes a result for a given goal. More...

virtual void	publishStatus ()=0
	Explicitly publish status. More...

Protected Attributes
boost::function< void(GoalHandle)>	cancel_callback_

boost::function< void(GoalHandle)>	goal_callback_

boost::shared_ptr< DestructionGuard >	guard_

GoalIDGenerator	id_generator_

ros::Time	last_cancel_

boost::recursive_mutex	lock_

bool	started_

std::list< StatusTracker< ActionSpec > >	status_list_

ros::Duration	status_list_timeout_

Friends
class	HandleTrackerDeleter< ActionSpec >

class	ServerGoalHandle< ActionSpec >

Detailed Description

template<class ActionSpec>
class actionlib::ActionServerBase< ActionSpec >

The ActionServerBase implements the logic for an ActionServer.

Definition at line 99 of file action_server_base.h.

Member Typedef Documentation

◆ GoalHandle

template<class ActionSpec >

typedef ServerGoalHandle<ActionSpec> actionlib::ActionServerBase< ActionSpec >::GoalHandle

Definition at line 103 of file action_server_base.h.

Constructor & Destructor Documentation

◆ ActionServerBase()

template<class ActionSpec >

actionlib::ActionServerBase< ActionSpec >::ActionServerBase	(	boost::function< void(GoalHandle)>	goal_cb,
		boost::function< void(GoalHandle)>	cancel_cb,
		bool	auto_start = `false`
	)

Constructor for an ActionServer.

Parameters

goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
cancel_cb	A cancel callback to be called when the ActionServer receives a new cancel request over the wire
auto_start	A boolean value that tells the ActionServer whether or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 199 of file action_server_base.h.

◆ ~ActionServerBase()

template<class ActionSpec >

actionlib::ActionServerBase< ActionSpec >::~ActionServerBase

virtual

Destructor for the ActionServerBase.

Definition at line 211 of file action_server_base.h.

Member Function Documentation

◆ cancelCallback()

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::cancelCallback ( const boost::shared_ptr< const actionlib_msgs::GoalID > & goal_id )

The ROS callback for cancel requests coming into the ActionServerBase.

Definition at line 300 of file action_server_base.h.

◆ goalCallback()

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::goalCallback ( const boost::shared_ptr< const ActionGoal > & goal )

The ROS callback for goals coming into the ActionServerBase.

Definition at line 239 of file action_server_base.h.

◆ initialize()

template<class ActionSpec >

virtual void actionlib::ActionServerBase< ActionSpec >::initialize ( )

protectedpure virtual

Initialize all ROS connections and setup timers.

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

◆ publishFeedback()

template<class ActionSpec >

virtual void actionlib::ActionServerBase< ActionSpec >::publishFeedback	(	const actionlib_msgs::GoalStatus &	status,
		const Feedback &	feedback
	)

protectedpure virtual

Publishes feedback for a given goal.

Parameters

status	The status of the goal with which the feedback is associated
feedback	The feedback to publish

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

◆ publishResult()

template<class ActionSpec >

virtual void actionlib::ActionServerBase< ActionSpec >::publishResult	(	const actionlib_msgs::GoalStatus &	status,
		const Result &	result
	)

protectedpure virtual

Publishes a result for a given goal.

Parameters

status	The status of the goal with which the result is associated
result	The result to publish

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

◆ publishStatus()

template<class ActionSpec >

virtual void actionlib::ActionServerBase< ActionSpec >::publishStatus ( )

protectedpure virtual

Explicitly publish status.

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

◆ registerCancelCallback()

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::registerCancelCallback ( boost::function< void(GoalHandle)> cb )

Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.

Parameters

cb	The callback to invoke

Definition at line 224 of file action_server_base.h.

◆ registerGoalCallback()

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::registerGoalCallback ( boost::function< void(GoalHandle)> cb )

Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.

Parameters

cb	The callback to invoke

Definition at line 218 of file action_server_base.h.

◆ start()

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::start

Explicitly start the action server, used it auto_start is set to false.

Definition at line 230 of file action_server_base.h.

Friends And Related Function Documentation

◆ HandleTrackerDeleter< ActionSpec >

template<class ActionSpec >

friend class HandleTrackerDeleter< ActionSpec >

friend

Definition at line 156 of file action_server_base.h.

◆ ServerGoalHandle< ActionSpec >

template<class ActionSpec >

template<class ActionSpec >

ros::Duration actionlib::ActionServerBase< ActionSpec >::status_list_timeout_

protected

Definition at line 191 of file action_server_base.h.

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

action_server_base.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<class ActionSpec> class actionlib::ActionServerBase< ActionSpec >

Member Typedef Documentation

◆ GoalHandle

Constructor & Destructor Documentation

◆ ActionServerBase()

◆ ~ActionServerBase()

Member Function Documentation

◆ cancelCallback()

◆ goalCallback()

◆ initialize()

◆ publishFeedback()

◆ publishResult()

◆ publishStatus()

◆ registerCancelCallback()

◆ registerGoalCallback()

◆ start()

Friends And Related Function Documentation

◆ HandleTrackerDeleter< ActionSpec >

◆ ServerGoalHandle< ActionSpec >

Member Data Documentation

◆ cancel_callback_

◆ goal_callback_

◆ guard_

◆ id_generator_

◆ last_cancel_

◆ lock_

◆ started_

◆ status_list_

◆ status_list_timeout_

template<class ActionSpec>
class actionlib::ActionServerBase< ActionSpec >