A Simple client implementation of the ActionInterface which supports only one goal at a time. More...
#include <simple_action_client.h>
Public Types | |
| typedef boost::function< void() > | SimpleActiveCallback |
| typedef boost::function< void(const SimpleClientGoalState &state, const ResultConstPtr &result) > | SimpleDoneCallback |
| typedef boost::function< void(const FeedbackConstPtr &feedback) > | SimpleFeedbackCallback |
Public Member Functions | |
| void | cancelAllGoals () |
| Cancel all goals currently running on the action server. | |
| void | cancelGoal () |
| Cancel the goal that we are currently pursuing. | |
| void | cancelGoalsAtAndBeforeTime (const ros::Time &time) |
| Cancel all goals that were stamped at and before the specified time. | |
| ResultConstPtr | getResult () |
| Get the Result of the current goal. | |
| SimpleClientGoalState | getState () |
| Get the state information for this goal. | |
| bool | isServerConnected () |
| Checks if the action client is successfully connected to the action server. | |
| void | sendGoal (const Goal &goal, SimpleDoneCallback done_cb=SimpleDoneCallback(), SimpleActiveCallback active_cb=SimpleActiveCallback(), SimpleFeedbackCallback feedback_cb=SimpleFeedbackCallback()) |
| Sends a goal to the ActionServer, and also registers callbacks. | |
| SimpleClientGoalState | sendGoalAndWait (const Goal &goal, const ros::Duration &execute_timeout=ros::Duration(0, 0), const ros::Duration &preempt_timeout=ros::Duration(0, 0)) |
| Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded. | |
| SimpleActionClient (ros::NodeHandle &n, const std::string &name, bool spin_thread=true) | |
| Constructor with namespacing options. | |
| SimpleActionClient (const std::string &name, bool spin_thread=true) | |
| Simple constructor. | |
| void | stopTrackingGoal () |
| Stops tracking the state of the current goal. Unregisters this goal's callbacks. | |
| bool | waitForResult (const ros::Duration &timeout=ros::Duration(0, 0)) |
| Blocks until this goal finishes. | |
| bool | waitForServer (const ros::Duration &timeout=ros::Duration(0, 0)) |
| Waits for the ActionServer to connect to this client. | |
| ~SimpleActionClient () | |
Private Types | |
| typedef ActionClient< ActionSpec > | ActionClientT |
| typedef ClientGoalHandle < ActionSpec > | GoalHandleT |
| typedef SimpleActionClient < ActionSpec > | SimpleActionClientT |
Private Member Functions | |
| ACTION_DEFINITION (ActionSpec) | |
| void | handleFeedback (GoalHandleT gh, const FeedbackConstPtr &feedback) |
| void | handleTransition (GoalHandleT gh) |
| void | initSimpleClient (ros::NodeHandle &n, const std::string &name, bool spin_thread) |
| void | setSimpleState (const SimpleGoalState &next_state) |
| void | setSimpleState (const SimpleGoalState::StateEnum &next_state) |
| void | spinThread () |
Private Attributes | |
| boost::scoped_ptr< ActionClientT > | ac_ |
| SimpleActiveCallback | active_cb_ |
| ros::CallbackQueue | callback_queue |
| SimpleGoalState | cur_simple_state_ |
| SimpleDoneCallback | done_cb_ |
| boost::condition | done_condition_ |
| boost::mutex | done_mutex_ |
| SimpleFeedbackCallback | feedback_cb_ |
| GoalHandleT | gh_ |
| bool | need_to_terminate_ |
| ros::NodeHandle | nh_ |
| boost::thread * | spin_thread_ |
| boost::mutex | terminate_mutex_ |
A Simple client implementation of the ActionInterface which supports only one goal at a time.
The SimpleActionClient wraps the exisitng ActionClient, and exposes a limited set of easy-to-use hooks for the user. Note that the concept of GoalHandles has been completely hidden from the user, and that they must query the SimplyActionClient directly in order to monitor a goal.
Definition at line 68 of file simple_action_client.h.
typedef ActionClient<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::ActionClientT [private] |
Definition at line 209 of file simple_action_client.h.
typedef ClientGoalHandle<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::GoalHandleT [private] |
Definition at line 72 of file simple_action_client.h.
typedef SimpleActionClient<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::SimpleActionClientT [private] |
Definition at line 73 of file simple_action_client.h.
| typedef boost::function<void () > actionlib::SimpleActionClient< ActionSpec >::SimpleActiveCallback |
Definition at line 77 of file simple_action_client.h.
| typedef boost::function<void (const SimpleClientGoalState& state, const ResultConstPtr& result) > actionlib::SimpleActionClient< ActionSpec >::SimpleDoneCallback |
Definition at line 76 of file simple_action_client.h.
| typedef boost::function<void (const FeedbackConstPtr& feedback) > actionlib::SimpleActionClient< ActionSpec >::SimpleFeedbackCallback |
Definition at line 78 of file simple_action_client.h.
| actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient | ( | const std::string & | name, | |
| bool | spin_thread = true | |||
| ) | [inline] |
Simple constructor.
Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface
| name | The action name. Defines the namespace in which the action communicates | |
| spin_thread | If true, spins up a thread to service this action's subscriptions. If false, then the user has to call ros::spin() themselves. Defaults to True |
Definition at line 88 of file simple_action_client.h.
| actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient | ( | ros::NodeHandle & | n, | |
| const std::string & | name, | |||
| bool | spin_thread = true | |||
| ) | [inline] |
Constructor with namespacing options.
Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface, and namespaces them according the a specified NodeHandle
| n | The node handle on top of which we want to namespace our action | |
| name | The action name. Defines the namespace in which the action communicates | |
| spin_thread | If true, spins up a thread to service this action's subscriptions. If false, then the user has to call ros::spin() themselves. Defaults to True |
Definition at line 103 of file simple_action_client.h.
| actionlib::SimpleActionClient< ActionSpec >::~SimpleActionClient | ( | ) | [inline] |
Definition at line 261 of file simple_action_client.h.
| actionlib::SimpleActionClient< ActionSpec >::ACTION_DEFINITION | ( | ActionSpec | ) | [private] |
| void actionlib::SimpleActionClient< ActionSpec >::cancelAllGoals | ( | ) | [inline] |
Cancel all goals currently running on the action server.
This preempts all goals running on the action server at the point that this message is serviced by the ActionServer.
Definition at line 404 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::cancelGoal | ( | ) | [inline] |
Cancel the goal that we are currently pursuing.
Definition at line 416 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::cancelGoalsAtAndBeforeTime | ( | const ros::Time & | time | ) | [inline] |
Cancel all goals that were stamped at and before the specified time.
| time | All goals stamped at or before `time` will be canceled |
Definition at line 410 of file simple_action_client.h.
| SimpleActionClient< ActionSpec >::ResultConstPtr actionlib::SimpleActionClient< ActionSpec >::getResult | ( | ) | [inline] |
Get the Result of the current goal.
Definition at line 391 of file simple_action_client.h.
| SimpleClientGoalState actionlib::SimpleActionClient< ActionSpec >::getState | ( | ) | [inline] |
Get the state information for this goal.
Possible States Are: PENDING, ACTIVE, RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, LOST.
Definition at line 327 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::handleFeedback | ( | GoalHandleT | gh, | |
| const FeedbackConstPtr & | feedback | |||
| ) | [inline, private] |
Definition at line 433 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::handleTransition | ( | GoalHandleT | gh | ) | [inline, private] |
Definition at line 444 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::initSimpleClient | ( | ros::NodeHandle & | n, | |
| const std::string & | name, | |||
| bool | spin_thread | |||
| ) | [inline, private] |
Definition at line 244 of file simple_action_client.h.
| bool actionlib::SimpleActionClient< ActionSpec >::isServerConnected | ( | ) | [inline] |
Checks if the action client is successfully connected to the action server.
Definition at line 126 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::sendGoal | ( | const Goal & | goal, | |
| SimpleDoneCallback | done_cb = SimpleDoneCallback(), |
|||
| SimpleActiveCallback | active_cb = SimpleActiveCallback(), |
|||
| SimpleFeedbackCallback | feedback_cb = SimpleFeedbackCallback() | |||
| ) | [inline] |
Sends a goal to the ActionServer, and also registers callbacks.
If a previous goal is already active when this is called. We simply forget about that goal and start tracking the new goal. No cancel requests are made.
| done_cb | Callback that gets called on transitions to Done | |
| active_cb | Callback that gets called on transitions to Active | |
| feedback_cb | Callback that gets called whenever feedback for this goal is received |
Definition at line 306 of file simple_action_client.h.
| SimpleClientGoalState actionlib::SimpleActionClient< ActionSpec >::sendGoalAndWait | ( | const Goal & | goal, | |
| const ros::Duration & | execute_timeout = ros::Duration(0,0), |
|||
| const ros::Duration & | preempt_timeout = ros::Duration(0,0) | |||
| ) | [inline] |
Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded.
If the goal doesn't complete by the execute_timeout, then a preempt message is sent. This call then waits up to the preempt_timeout for the goal to then finish.
| goal | The goal to be sent to the ActionServer | |
| execute_timeout | Time to wait until a preempt is sent. 0 implies wait forever | |
| preempt_timeout | Time to wait after a preempt is sent. 0 implies wait forever |
Definition at line 574 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::setSimpleState | ( | const SimpleGoalState & | next_state | ) | [inline, private] |
Definition at line 297 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::setSimpleState | ( | const SimpleGoalState::StateEnum & | next_state | ) | [inline, private] |
Definition at line 291 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::spinThread | ( | ) | [inline, private] |
Definition at line 277 of file simple_action_client.h.
| void actionlib::SimpleActionClient< ActionSpec >::stopTrackingGoal | ( | ) | [inline] |
Stops tracking the state of the current goal. Unregisters this goal's callbacks.
This is useful if we want to make sure we stop calling our callbacks before sending a new goal. Note that this does not cancel the goal, it simply stops looking for status info about this goal.
Definition at line 425 of file simple_action_client.h.
| bool actionlib::SimpleActionClient< ActionSpec >::waitForResult | ( | const ros::Duration & | timeout = ros::Duration(0,0) |
) | [inline] |
Blocks until this goal finishes.
| timeout | Max time to block before returning. A zero timeout is interpreted as an infinite timeout. |
Definition at line 533 of file simple_action_client.h.
| bool actionlib::SimpleActionClient< ActionSpec >::waitForServer | ( | const ros::Duration & | timeout = ros::Duration(0,0) |
) | [inline] |
Waits for the ActionServer to connect to this client.
Often, it can take a second for the action server & client to negotiate a connection, thus, risking the first few goals to be dropped. This call lets the user wait until the network connection to the server is negotiated
| timeout | Max time to block before returning. A zero timeout is interpreted as an infinite timeout. |
Definition at line 120 of file simple_action_client.h.
boost::scoped_ptr<ActionClientT> actionlib::SimpleActionClient< ActionSpec >::ac_ [private] |
Definition at line 230 of file simple_action_client.h.
SimpleActiveCallback actionlib::SimpleActionClient< ActionSpec >::active_cb_ [private] |
Definition at line 221 of file simple_action_client.h.
ros::CallbackQueue actionlib::SimpleActionClient< ActionSpec >::callback_queue [private] |
Definition at line 228 of file simple_action_client.h.
SimpleGoalState actionlib::SimpleActionClient< ActionSpec >::cur_simple_state_ [private] |
Definition at line 213 of file simple_action_client.h.
SimpleDoneCallback actionlib::SimpleActionClient< ActionSpec >::done_cb_ [private] |
Definition at line 220 of file simple_action_client.h.
boost::condition actionlib::SimpleActionClient< ActionSpec >::done_condition_ [private] |
Definition at line 216 of file simple_action_client.h.
boost::mutex actionlib::SimpleActionClient< ActionSpec >::done_mutex_ [private] |
Definition at line 217 of file simple_action_client.h.
SimpleFeedbackCallback actionlib::SimpleActionClient< ActionSpec >::feedback_cb_ [private] |
Definition at line 222 of file simple_action_client.h.
GoalHandleT actionlib::SimpleActionClient< ActionSpec >::gh_ [private] |
Definition at line 211 of file simple_action_client.h.
bool actionlib::SimpleActionClient< ActionSpec >::need_to_terminate_ [private] |
Definition at line 226 of file simple_action_client.h.
ros::NodeHandle actionlib::SimpleActionClient< ActionSpec >::nh_ [private] |
Definition at line 210 of file simple_action_client.h.
boost::thread* actionlib::SimpleActionClient< ActionSpec >::spin_thread_ [private] |
Definition at line 227 of file simple_action_client.h.
boost::mutex actionlib::SimpleActionClient< ActionSpec >::terminate_mutex_ [private] |
Definition at line 225 of file simple_action_client.h.
