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 the 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 #ifndef ACTIONLIB_ACTION_CONNECTION_MONITOR_H_ 00036 #define ACTIONLIB_ACTION_CONNECTION_MONITOR_H_ 00037 00038 #include <boost/thread/condition.hpp> 00039 #include <boost/thread/recursive_mutex.hpp> 00040 00041 #include <ros/ros.h> 00042 #include <actionlib_msgs/GoalStatusArray.h> 00043 #include <set> 00044 #include <map> 00045 00046 #include <actionlib/decl.h> 00047 00048 namespace actionlib 00049 { 00050 00051 class ACTIONLIB_DECL ConnectionMonitor 00052 { 00053 public: 00054 ConnectionMonitor(ros::Subscriber&feedback_sub, ros::Subscriber& result_sub); 00055 00056 void goalConnectCallback(const ros::SingleSubscriberPublisher& pub); 00057 00058 void goalDisconnectCallback(const ros::SingleSubscriberPublisher& pub); 00059 00060 void cancelConnectCallback(const ros::SingleSubscriberPublisher& pub); 00061 00062 void cancelDisconnectCallback(const ros::SingleSubscriberPublisher& pub); 00063 00064 void processStatus(const actionlib_msgs::GoalStatusArrayConstPtr& status); 00065 00066 bool waitForActionServerToStart(const ros::Duration& timeout = ros::Duration(0,0), const ros::NodeHandle& nh = ros::NodeHandle() ); 00067 bool isServerConnected(); 00068 00069 private: 00070 00071 // status stuff 00072 std::string status_caller_id_; 00073 bool status_received_; 00074 ros::Time latest_status_time_; 00075 00076 boost::condition check_connection_condition_; 00077 00078 boost::recursive_mutex data_mutex_; 00079 std::set<std::string> goalSubscribers_; 00080 std::set<std::string> cancelSubscribers_; 00081 00082 std::string goalSubscribersString(); 00083 std::string cancelSubscribersString(); 00084 00085 ros::Subscriber& feedback_sub_; 00086 ros::Subscriber& result_sub_; 00087 }; 00088 00089 } 00090 00091 #endif