connection_monitor.h
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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


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49