actionlib: actionlib: goal_id_generator.cpp Source File

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00034 
00035 #include <ros/ros.h>
00036 #include <actionlib/goal_id_generator.h>
00037 #include <boost/thread/mutex.hpp>
00038 
00039 using namespace actionlib;
00040 
00041 static boost::mutex s_goalcount_mutex_;
00042 static unsigned int s_goalcount_ = 0;
00043 
00044 GoalIDGenerator::GoalIDGenerator()
00045 {
00046   setName(ros::this_node::getName());
00047 }
00048 
00049 GoalIDGenerator::GoalIDGenerator(const std::string& name)
00050 {
00051   setName(name);
00052 }
00053 
00054 void GoalIDGenerator::setName(const std::string& name)
00055 {
00056   name_ = name;
00057 }
00058 
00059 actionlib_msgs::GoalID GoalIDGenerator::generateID()
00060 {
00061   actionlib_msgs::GoalID id;
00062   ros::Time cur_time = ros::Time::now();
00063   std::stringstream ss;
00064 
00065   ss << name_ << "-";
00066 
00067   {
00068     boost::mutex::scoped_lock lock(s_goalcount_mutex_);
00069     s_goalcount_++;
00070     ss << s_goalcount_ << "-";
00071   }
00072 
00073   ss << cur_time.sec << "." << cur_time.nsec;
00074   id.id = ss.str();
00075   id.stamp = cur_time;
00076   return id;
00077 }