oro_action_server.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2008, Willow Garage, Inc.
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 *     from this software without specific prior written permission.
00021 *
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTION_LIB_ACTION_SERVER
00038 #define ACTION_LIB_ACTION_SERVER
00039 
00040 #include <rtt/TaskContext.hpp>
00041 #include <rtt/Port.hpp>
00042 #include <rtt/Logger.hpp>
00043 #include <rtt/os/TimeService.hpp>
00044 
00045 #include <ros/ros.h>
00046 #include <boost/thread.hpp>
00047 #include <boost/shared_ptr.hpp>
00048 #include <actionlib_msgs/GoalID.h>
00049 #include <actionlib_msgs/GoalStatusArray.h>
00050 #include <actionlib_msgs/GoalStatus.h>
00051 #include <actionlib/enclosure_deleter.h>
00052 #include <actionlib/goal_id_generator.h>
00053 #include <actionlib/action_definition.h>
00054 #include <actionlib/server/status_tracker.h>
00055 #include <actionlib/server/handle_tracker_deleter.h>
00056 #include <actionlib/server/server_goal_handle.h>
00057 #include <actionlib/destruction_guard.h>
00058 
00059 #include <list>
00060 
00061 namespace actionlib {
00072   template <class ActionSpec>
00073   class ActionServer {
00074     public:
00075       //for convenience when referring to ServerGoalHandles
00076       typedef ServerGoalHandle<ActionSpec> GoalHandle;
00077 
00078     private:
00079       //generates typedefs that we'll use to make our lives easier
00080       ACTION_DEFINITION(ActionSpec);
00081 
00082     public:
00091       ActionServer(RTT::TaskContext* n, std::string name,
00092           boost::function<void (GoalHandle)> goal_cb,
00093           boost::function<void (GoalHandle)> cancel_cb = boost::function<void (GoalHandle)>(),
00094           bool auto_start = true);
00095 
00102       ActionServer(RTT::TaskContext* n, std::string name,
00103           bool auto_start = true);
00104 
00108       ~ActionServer();
00109 
00114       void registerGoalCallback(boost::function<void (GoalHandle)> cb);
00115 
00120       void registerCancelCallback(boost::function<void (GoalHandle)> cb);
00121 
00125       void start();
00126 
00127         void spinOnce();
00128 
00129     private:
00133       void initialize();
00134 
00140       void publishResult(const actionlib_msgs::GoalStatus& status, const Result& result);
00141 
00147       void publishFeedback(const actionlib_msgs::GoalStatus& status, const Feedback& feedback);
00148 
00152       void cancelCallback(const boost::shared_ptr<const actionlib_msgs::GoalID>& goal_id);
00153 
00157       void goalCallback(const boost::shared_ptr<const ActionGoal>& goal);
00158 
00162    //   void publishStatus(const ros::TimerEvent& e);
00163 
00164       void goalPortCB();
00165       void cancelPortCB();
00166 
00170       void publishStatus();
00171 
00172             RTT::TaskContext* node_;
00173 
00174             RTT::InputPort<ActionGoal> goal_sub_;
00175             RTT::InputPort<actionlib_msgs::GoalID> cancel_sub_;
00176 
00177             RTT::OutputPort<actionlib_msgs::GoalStatusArray> status_pub_;
00178         RTT::OutputPort<ActionResult> result_pub_;
00179             RTT::OutputPort<ActionFeedback> feedback_pub_;
00180 
00181       boost::recursive_mutex lock_;
00182 
00183   //    ros::Timer status_timer_;
00184 
00185       std::list<StatusTracker<ActionSpec> > status_list_;
00186 
00187       boost::function<void (GoalHandle)> goal_callback_;
00188       boost::function<void (GoalHandle)> cancel_callback_;
00189 
00190       ros::Time last_cancel_;
00191       ros::Duration status_list_timeout_;
00192 
00193         //RTT::os::TimeService::nsecs last_cancel_;     
00194         //RTT::os::TimeService::nsecs status_list_timeout_;
00195 
00196       //we need to allow access to our private fields to our helper classes
00197       friend class ServerGoalHandle<ActionSpec>;
00198       friend class HandleTrackerDeleter<ActionSpec>;
00199 
00200       GoalIDGenerator id_generator_;
00201       bool started_;
00202       boost::shared_ptr<DestructionGuard> guard_;
00203   };
00204 };
00205 
00206 //include the implementation
00207 #include <oro_action_server_imp.h>
00208 #endif
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oro_action_server
Author(s): Konrad Banachowicz
autogenerated on Thu Nov 14 2013 11:53:03