actionlib::SimpleActionServer< ActionSpec > Class Template Reference

#include <simple_action_server.h>

Public Types
typedef boost::function< void(const GoalConstPtr &)>	ExecuteCallback
typedef ActionServer < ActionSpec >::GoalHandle	GoalHandle
Public Member Functions
boost::shared_ptr< const Goal >	acceptNewGoal ()
	Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted. Preempts received for the new goal between checking if isNewGoalAvailable or invokation of a goal callback and the acceptNewGoal call will not trigger a preempt callback. This means, isPreemptReqauested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request.
	ACTION_DEFINITION (ActionSpec)
bool	isActive ()
	Allows polling implementations to query about the status of the current goal.
bool	isNewGoalAvailable ()
	Allows polling implementations to query about the availability of a new goal.
bool	isPreemptRequested ()
	Allows polling implementations to query about preempt requests.
void	publishFeedback (const Feedback &feedback)
	Publishes feedback for a given goal.
void	publishFeedback (const FeedbackConstPtr &feedback)
	Publishes feedback for a given goal.
void	registerGoalCallback (boost::function< void()> cb)
	Allows users to register a callback to be invoked when a new goal is available.
void	registerPreemptCallback (boost::function< void()> cb)
	Allows users to register a callback to be invoked when a new preempt request is available.
void	setAborted (const Result &result=Result(), const std::string &text=std::string(""))
	Sets the status of the active goal to aborted.
void	setPreempted (const Result &result=Result(), const std::string &text=std::string(""))
	Sets the status of the active goal to preempted.
void	setSucceeded (const Result &result=Result(), const std::string &text=std::string(""))
	Sets the status of the active goal to succeeded.
void	shutdown ()
	Explicitly shutdown the action server.
ROS_DEPRECATED	SimpleActionServer (ros::NodeHandle n, std::string name, ExecuteCallback execute_cb=NULL)
	Constructor for a SimpleActionServer.
	SimpleActionServer (ros::NodeHandle n, std::string name, bool auto_start)
	Constructor for a SimpleActionServer.
	SimpleActionServer (ros::NodeHandle n, std::string name, ExecuteCallback execute_cb, bool auto_start)
	Constructor for a SimpleActionServer.
ROS_DEPRECATED	SimpleActionServer (std::string name, ExecuteCallback execute_cb=NULL)
	DEPRECATED: Constructor for a SimpleActionServer.
	SimpleActionServer (std::string name, bool auto_start)
	Constructor for a SimpleActionServer.
	SimpleActionServer (std::string name, ExecuteCallback execute_cb, bool auto_start)
	Constructor for a SimpleActionServer.
void	start ()
	Explicitly start the action server, used it auto_start is set to false.
	~SimpleActionServer ()
Private Member Functions
void	executeLoop ()
	Called from a separate thread to call blocking execute calls.
void	goalCallback (GoalHandle goal)
	Callback for when the ActionServer receives a new goal and passes it on.
void	preemptCallback (GoalHandle preempt)
	Callback for when the ActionServer receives a new preempt and passes it on.
Private Attributes
boost::shared_ptr < ActionServer< ActionSpec > >	as_
GoalHandle	current_goal_
ExecuteCallback	execute_callback_
boost::condition	execute_condition_
boost::thread *	execute_thread_
boost::function< void()>	goal_callback_
boost::recursive_mutex	lock_
ros::NodeHandle	n_
bool	need_to_terminate_
bool	new_goal_
bool	new_goal_preempt_request_
GoalHandle	next_goal_
boost::function< void()>	preempt_callback_
bool	preempt_request_
boost::mutex	terminate_mutex_

Detailed Description

template<class ActionSpec>
class actionlib::SimpleActionServer< ActionSpec >

SimpleActionServer implements a singe goal policy on top of the ActionServer class. The specification of the policy is as follows: only one goal can have an active status at a time, new goals preempt previous goals based on the stamp in their GoalID field (later goals preempt earlier ones), an explicit preempt goal preempts all goals with timestamps that are less than or equal to the stamp associated with the preempt, accepting a new goal implies successful preemption of any old goal and the status of the old goal will be change automatically to reflect this.

Definition at line 57 of file simple_action_server.h.

Member Typedef Documentation

template<class ActionSpec>

typedef boost::function<void (const GoalConstPtr&)> actionlib::SimpleActionServer< ActionSpec >::ExecuteCallback

Definition at line 63 of file simple_action_server.h.

template<class ActionSpec>

typedef ActionServer<ActionSpec>::GoalHandle actionlib::SimpleActionServer< ActionSpec >::GoalHandle

Definition at line 62 of file simple_action_server.h.

Constructor & Destructor Documentation

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::SimpleActionServer	(	std::string	name,
		ExecuteCallback	execute_cb,
		bool	auto_start
	)			`[inline]`

Constructor for a SimpleActionServer.

Parameters:

	name	A name for the action server
	execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.
	auto_start	A boolean value that tells the ActionServer wheteher 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 41 of file simple_action_server_imp.h.

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::SimpleActionServer	(	std::string	name,
		bool	auto_start
	)			`[inline]`

Constructor for a SimpleActionServer.

Parameters:

	name	A name for the action server
	auto_start	A boolean value that tells the ActionServer wheteher 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 58 of file simple_action_server_imp.h.

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::SimpleActionServer	(	std::string	name,
		ExecuteCallback	execute_cb = `NULL`
	)			`[inline]`

DEPRECATED: Constructor for a SimpleActionServer.

Parameters:

	name	A name for the action server
	execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.

Definition at line 74 of file simple_action_server_imp.h.

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::SimpleActionServer	(	ros::NodeHandle	n,
		std::string	name,
		ExecuteCallback	execute_cb,
		bool	auto_start
	)			`[inline]`

Constructor for a SimpleActionServer.

Parameters:

	n	A NodeHandle to create a namespace under
	name	A name for the action server
	execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.
	auto_start	A boolean value that tells the ActionServer wheteher 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 91 of file simple_action_server_imp.h.

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::SimpleActionServer	(	ros::NodeHandle	n,
		std::string	name,
		bool	auto_start
	)			`[inline]`

Constructor for a SimpleActionServer.

Parameters:

	n	A NodeHandle to create a namespace under
	name	A name for the action server
	auto_start	A boolean value that tells the ActionServer wheteher 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 107 of file simple_action_server_imp.h.

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::SimpleActionServer	(	ros::NodeHandle	n,
		std::string	name,
		ExecuteCallback	execute_cb = `NULL`
	)			`[inline]`

Constructor for a SimpleActionServer.

Parameters:

	n	A NodeHandle to create a namespace under
	name	A name for the action server
	execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.

Definition at line 123 of file simple_action_server_imp.h.

template<class ActionSpec >

actionlib::SimpleActionServer< ActionSpec >::~SimpleActionServer ( ) [inline]

Definition at line 139 of file simple_action_server_imp.h.

Member Function Documentation

template<class ActionSpec >

boost::shared_ptr< const typename SimpleActionServer< ActionSpec >::Goal > actionlib::SimpleActionServer< ActionSpec >::acceptNewGoal ( ) [inline]

Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted. Preempts received for the new goal between checking if isNewGoalAvailable or invokation of a goal callback and the acceptNewGoal call will not trigger a preempt callback. This means, isPreemptReqauested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request.

Returns:: A shared_ptr to the new goal.

Definition at line 163 of file simple_action_server_imp.h.

template<class ActionSpec>

actionlib::SimpleActionServer< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::executeLoop ( ) [inline, private]

Called from a separate thread to call blocking execute calls.

Definition at line 321 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::goalCallback ( GoalHandle goal ) [inline, private]

Callback for when the ActionServer receives a new goal and passes it on.

Definition at line 261 of file simple_action_server_imp.h.

template<class ActionSpec >

bool actionlib::SimpleActionServer< ActionSpec >::isActive ( ) [inline]

Allows polling implementations to query about the status of the current goal.

Returns:: True if a goal is active, false otherwise

Definition at line 206 of file simple_action_server_imp.h.

template<class ActionSpec >

bool actionlib::SimpleActionServer< ActionSpec >::isNewGoalAvailable ( ) [inline]

Allows polling implementations to query about the availability of a new goal.

Returns:: True if a new goal is available, false otherwise

Definition at line 195 of file simple_action_server_imp.h.

template<class ActionSpec >

bool actionlib::SimpleActionServer< ActionSpec >::isPreemptRequested ( ) [inline]

Allows polling implementations to query about preempt requests.

Returns:: True if a preempt is requested, false otherwise

Definition at line 201 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::preemptCallback ( GoalHandle preempt ) [inline, private]

Callback for when the ActionServer receives a new preempt and passes it on.

Definition at line 300 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::publishFeedback ( const Feedback & feedback ) [inline]

Publishes feedback for a given goal.

Parameters:

feedback

The feedback to publish

Definition at line 255 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::publishFeedback ( const FeedbackConstPtr & feedback ) [inline]

Publishes feedback for a given goal.

Parameters:

feedback

Shared pointer to the feedback to publish

Definition at line 249 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::registerGoalCallback ( boost::function< void()> cb ) [inline]

Allows users to register a callback to be invoked when a new goal is available.

Parameters:

cb

The callback to be invoked

Definition at line 235 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::registerPreemptCallback ( boost::function< void()> cb ) [inline]

Allows users to register a callback to be invoked when a new preempt request is available.

Parameters:

cb

The callback to be invoked

Definition at line 244 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::setAborted	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)			`[inline]`

Sets the status of the active goal to aborted.

Parameters:

	result	An optional result to send back to any clients of the goal
	result	An optional text message to send back to any clients of the goal

Definition at line 221 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::setPreempted	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)			`[inline]`

Sets the status of the active goal to preempted.

Parameters:

	result	An optional result to send back to any clients of the goal
	result	An optional text message to send back to any clients of the goal

Definition at line 228 of file simple_action_server_imp.h.

template<class ActionSpec >

void actionlib::SimpleActionServer< ActionSpec >::setSucceeded	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)			`[inline]`