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simple_execute_ref_server.cpp

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#include <actionlib/server/simple_action_server.h>
#include <actionlib/TestAction.h>
#include <ros/ros.h>

namespace actionlib
{

class SimpleExecuteRefServer
{
public:
  typedef ServerGoalHandle<TestAction> GoalHandle;

  SimpleExecuteRefServer();

private:
  ros::NodeHandle nh_;
  SimpleActionServer<TestAction> as_;

  void executeCallback(const TestGoalConstPtr& goal);
};

}

using namespace actionlib;

SimpleExecuteRefServer::SimpleExecuteRefServer() : as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this, _1), false)
{
  as_.start();
}

void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr& goal)
{
  ROS_DEBUG_NAMED("actionlib", "Got a goal of type [%u]", goal->goal);
  switch (goal->goal)
  {
    case 1:
      ROS_DEBUG_NAMED("actionlib", "Got goal #1");
      as_.setSucceeded(TestResult(), "The ref server has succeeded");
      break;
    case 2:
      ROS_DEBUG_NAMED("actionlib", "Got goal #2");
      as_.setAborted(TestResult(), "The ref server has aborted");
      break;
    case 4:
    {
      ROS_DEBUG_NAMED("actionlib", "Got goal #4");
      ros::Duration sleep_dur(.1);
      for (unsigned int i=0; i<100; i++)
      {
        sleep_dur.sleep();
        if (as_.isPreemptRequested())
        {
          as_.setPreempted();
          return;
        }
      }
      as_.setAborted();
      break;
    }
    default:
      break;
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "ref_server");

  SimpleExecuteRefServer server;

  ros::spin();

  return 0;
}

---

actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Mar 1 14:59:36 2013