simple_action_server.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB_SIMPLE_ACTION_SERVER_H_
#define ACTIONLIB_SIMPLE_ACTION_SERVER_H_

#include <boost/thread/condition.hpp>
#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <actionlib/action_definition.h>

namespace actionlib {
  template <class ActionSpec>
  class SimpleActionServer {
    public:
      //generates typedefs that we'll use to make our lives easier
      ACTION_DEFINITION(ActionSpec);

      typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
      typedef boost::function<void (const GoalConstPtr&)> ExecuteCallback;

      SimpleActionServer(std::string name, ExecuteCallback execute_cb, bool auto_start);

      SimpleActionServer(std::string name, bool auto_start);

      ROS_DEPRECATED SimpleActionServer(std::string name, ExecuteCallback execute_cb = NULL);

      SimpleActionServer(ros::NodeHandle n, std::string name, ExecuteCallback execute_cb, bool auto_start);

      SimpleActionServer(ros::NodeHandle n, std::string name, bool auto_start);

      ROS_DEPRECATED SimpleActionServer(ros::NodeHandle n, std::string name, ExecuteCallback execute_cb = NULL);

      ~SimpleActionServer();

      boost::shared_ptr<const Goal> acceptNewGoal();

      bool isNewGoalAvailable();


      bool isPreemptRequested();

      bool isActive();

      void setSucceeded(const Result& result = Result(), const std::string& text = std::string(""));

      void setAborted(const Result& result = Result(), const std::string& text = std::string(""));


      void publishFeedback(const FeedbackConstPtr& feedback);

      void publishFeedback(const Feedback& feedback);

      void setPreempted(const Result& result = Result(), const std::string& text = std::string(""));

      void registerGoalCallback(boost::function<void ()> cb);

      void registerPreemptCallback(boost::function<void ()> cb);

      void start();

      void shutdown();

    private:
      void goalCallback(GoalHandle goal);

      void preemptCallback(GoalHandle preempt);

      void executeLoop();

      ros::NodeHandle n_;

      boost::shared_ptr<ActionServer<ActionSpec> > as_;

      GoalHandle current_goal_, next_goal_;

      bool new_goal_, preempt_request_, new_goal_preempt_request_;

      boost::recursive_mutex lock_;

      boost::function<void ()> goal_callback_;
      boost::function<void ()> preempt_callback_;
      ExecuteCallback execute_callback_;

      boost::condition execute_condition_;
      boost::thread* execute_thread_;

      boost::mutex terminate_mutex_;
      bool need_to_terminate_;
  };
};

//include the implementation here
#include <actionlib/server/simple_action_server_imp.h>
#endif