actionlib: actionlib: action_server.h Source File

00001 /*********************************************************************
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00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
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00013 *     notice, this list of conditions and the following disclaimer.
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTION_LIB_ACTION_SERVER
00038 #define ACTION_LIB_ACTION_SERVER
00039 
00040 #include <ros/ros.h>
00041 #include <boost/thread.hpp>
00042 #include <boost/shared_ptr.hpp>
00043 #include <actionlib_msgs/GoalID.h>
00044 #include <actionlib_msgs/GoalStatusArray.h>
00045 #include <actionlib_msgs/GoalStatus.h>
00046 #include <actionlib/enclosure_deleter.h>
00047 #include <actionlib/goal_id_generator.h>
00048 #include <actionlib/action_definition.h>
00049 #include <actionlib/server/status_tracker.h>
00050 #include <actionlib/server/handle_tracker_deleter.h>
00051 #include <actionlib/server/server_goal_handle.h>
00052 #include <actionlib/destruction_guard.h>
00053 
00054 #include <list>
00055 
00056 namespace actionlib {
00067   template <class ActionSpec>
00068   class ActionServer {
00069     public:
00070       //for convenience when referring to ServerGoalHandles
00071       typedef ServerGoalHandle<ActionSpec> GoalHandle;
00072 
00073       //generates typedefs that we'll use to make our lives easier
00074       ACTION_DEFINITION(ActionSpec);
00075 
00084       ActionServer(ros::NodeHandle n, std::string name,
00085           boost::function<void (GoalHandle)> goal_cb,
00086           boost::function<void (GoalHandle)> cancel_cb,
00087           bool auto_start);
00088 
00096       ActionServer(ros::NodeHandle n, std::string name,
00097           boost::function<void (GoalHandle)> goal_cb,
00098           bool auto_start);
00099 
00107       ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name,
00108           boost::function<void (GoalHandle)> goal_cb,
00109           boost::function<void (GoalHandle)> cancel_cb = boost::function<void (GoalHandle)>());
00110 
00117       ActionServer(ros::NodeHandle n, std::string name,
00118           bool auto_start);
00119 
00125       ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name);
00126 
00130       ~ActionServer();
00131 
00136       void registerGoalCallback(boost::function<void (GoalHandle)> cb);
00137 
00142       void registerCancelCallback(boost::function<void (GoalHandle)> cb);
00143 
00147       void start();
00148 
00149     private:
00153       void initialize();
00154 
00160       void publishResult(const actionlib_msgs::GoalStatus& status, const Result& result);
00161 
00167       void publishFeedback(const actionlib_msgs::GoalStatus& status, const Feedback& feedback);
00168 
00172       void cancelCallback(const boost::shared_ptr<const actionlib_msgs::GoalID>& goal_id);
00173 
00177       void goalCallback(const boost::shared_ptr<const ActionGoal>& goal);
00178 
00182       void publishStatus(const ros::TimerEvent& e);
00183 
00187       void publishStatus();
00188 
00189       ros::NodeHandle node_;
00190 
00191       ros::Subscriber goal_sub_, cancel_sub_;
00192       ros::Publisher status_pub_, result_pub_, feedback_pub_;
00193 
00194       boost::recursive_mutex lock_;
00195 
00196       ros::Timer status_timer_;
00197 
00198       std::list<StatusTracker<ActionSpec> > status_list_;
00199 
00200       boost::function<void (GoalHandle)> goal_callback_;
00201       boost::function<void (GoalHandle)> cancel_callback_;
00202 
00203       ros::Time last_cancel_;
00204       ros::Duration status_list_timeout_;
00205 
00206       //we need to allow access to our private fields to our helper classes
00207       friend class ServerGoalHandle<ActionSpec>;
00208       friend class HandleTrackerDeleter<ActionSpec>;
00209 
00210       GoalIDGenerator id_generator_;
00211       bool started_;
00212       boost::shared_ptr<DestructionGuard> guard_;
00213   };
00214 };
00215 
00216 //include the implementation
00217 #include <actionlib/server/action_server_imp.h>
00218 #endif