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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 **********************************************************************/ 00034 00035 /* Author: Melonee Wise */ 00036 #include <sstream> 00037 00038 #include <ros/ros.h> 00039 #include <actionlib/server/simple_action_server.h> 00040 #include <actionlib_tutorials/FibonacciAction.h> 00041 00042 class FibonacciAction 00043 { 00044 public: 00045 00046 FibonacciAction(std::string name) : 00047 as_(nh_, name, boost::bind(&FibonacciAction::executeCB, this, _1)), 00048 action_name_(name) 00049 { 00050 00051 std::stringstream ss; 00052 // check if the configuration is loaded on the param server 00053 if(!nh_.getParam(action_name_ + "/seed0", seed0_)) 00054 { 00055 // throw an exception if the param is not there and exit the action server 00056 ss << action_name_.c_str() << ": Aborted, seed0 param was not set."; 00057 throw ss.str(); 00058 } 00059 00060 if(!nh_.getParam(action_name_ + "/seed1", seed1_)) 00061 { 00062 ss << action_name_.c_str() << ": Aborted, seed1 param was not set."; 00063 throw ss.str(); 00064 } 00065 } 00066 00067 ~FibonacciAction(void) 00068 { 00069 } 00070 00071 void executeCB(const actionlib_tutorials::FibonacciGoalConstPtr &goal) 00072 { 00073 00074 // helper variables 00075 ros::Rate r(1); 00076 std::vector<int> sequence; 00077 int temp; 00078 bool success = true; 00079 00080 // push_back the seeds for the fibonacci sequence 00081 feedback_.sequence.clear(); 00082 feedback_.sequence.push_back(seed0_); 00083 feedback_.sequence.push_back(seed1_); 00084 00085 // publish some info to the console for the user 00086 ROS_INFO("%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i",action_name_.c_str(), goal->order, feedback_.sequence[0], feedback_.sequence[1]); 00087 00088 // start executing the action 00089 for(int i=1; i<=goal->order; i++) 00090 { 00091 // check that preempt has not been requested by the client 00092 if (as_.isPreemptRequested() || !ros::ok()) 00093 { 00094 ROS_INFO("%s: Preempted", action_name_.c_str()); 00095 // set the action state to preempted 00096 as_.setPreempted(); 00097 success = false; 00098 break; 00099 } 00100 feedback_.sequence.push_back(feedback_.sequence[i] + feedback_.sequence[i-1]); 00101 // publish the feedback 00102 as_.publishFeedback(feedback_); 00103 // this sleep is not necessary 00104 r.sleep(); 00105 } 00106 00107 if(success) 00108 { 00109 result_.sequence = feedback_.sequence; 00110 ROS_INFO("%s: Succeeded", action_name_.c_str()); 00111 // set the action state to succeeded 00112 as_.setSucceeded(result_); 00113 } 00114 } 00115 00116 protected: 00117 00118 ros::NodeHandle nh_; 00119 actionlib::SimpleActionServer<actionlib_tutorials::FibonacciAction> as_; 00120 std::string action_name_; 00121 // create messages that are used to published feedback/result 00122 actionlib_tutorials::FibonacciFeedback feedback_; 00123 actionlib_tutorials::FibonacciResult result_; 00124 int seed0_, seed1_; 00125 }; 00126 00127 00128 int main(int argc, char** argv) 00129 { 00130 ros::init(argc, argv, "fibonacci"); 00131 00132 try 00133 { 00134 FibonacciAction fibonacci(ros::this_node::getName()); 00135 ros::spin(); 00136 } 00137 catch(std::string str) 00138 { 00139 ROS_ERROR(str.c_str()); 00140 } 00141 return 0; 00142 }