ref_server.cpp
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00034 
00036 
00037 #include <actionlib/server/action_server.h>
00038 #include <actionlib/TestAction.h>
00039 #include <ros/ros.h>
00040 #include <cstdio>
00041 
00042 namespace actionlib
00043 {
00044 
00045 class RefServer : public ActionServer<TestAction>
00046 {
00047 public:
00048   typedef ServerGoalHandle<TestAction> GoalHandle;
00049 
00050   RefServer(ros::NodeHandle& n, const std::string& name);
00051 
00052 private:
00053 
00054   void goalCallback(GoalHandle gh);
00055   void cancelCallback(GoalHandle gh);
00056 
00057 };
00058 
00059 }
00060 
00061 using namespace actionlib;
00062 
00063 RefServer::RefServer(ros::NodeHandle& n, const std::string& name)
00064   : ActionServer<TestAction>(n, name,
00065                              boost::bind(&RefServer::goalCallback, this, _1),
00066                              boost::bind(&RefServer::cancelCallback, this, _1),
00067                              false)
00068 {
00069   start();
00070   printf("Creating ActionServer [%s]\n", name.c_str());
00071 }
00072 
00073 void RefServer::goalCallback(GoalHandle gh)
00074 {
00075   TestGoal goal = *gh.getGoal();
00076 
00077   switch (goal.goal)
00078   {
00079     case 1:
00080       gh.setAccepted();
00081       gh.setSucceeded(TestResult(), "The ref server has succeeded");
00082       break;
00083     case 2:
00084       gh.setAccepted();
00085       gh.setAborted(TestResult(), "The ref server has aborted");
00086       break;
00087     case 3:
00088       gh.setRejected(TestResult(), "The ref server has rejected");
00089       break;
00090     default:
00091       break;
00092   }
00093 }
00094 
00095 void RefServer::cancelCallback(GoalHandle gh)
00096 {
00097 
00098 
00099 }
00100 
00101 
00102 int main(int argc, char** argv)
00103 {
00104   ros::init(argc, argv, "ref_server");
00105 
00106   ros::NodeHandle nh;
00107 
00108   RefServer ref_server(nh, "reference_action");
00109 
00110   ros::spin();
00111 }
00112 
00113 


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