.. _program_listing_file_include_as2_behavior_as2_basic_behavior.hpp:

Program Listing for File as2_basic_behavior.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_as2_behavior_as2_basic_behavior.hpp>` (``include/as2_behavior/as2_basic_behavior.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*!*******************************************************************************************
    *  \file       as2_basic_behavior.hpp
    *  \brief      Aerostack2 basic behavior virtual class header file.
    *  \authors    Miguel Fernández Cortizas
    *              Pedro Arias Pérez
    *              David Pérez Saura
    *              Rafael Pérez Seguí
    *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
    *              All Rights Reserved
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    * 1. Redistributions of source code must retain the above copyright notice,
    *    this list of conditions and the following disclaimer.
    * 2. Redistributions in binary form must reproduce the above copyright notice,
    *    this list of conditions and the following disclaimer in the documentation
    *    and/or other materials provided with the distribution.
    * 3. Neither the name of the copyright holder nor the names of its contributors
    *    may be used to endorse or promote products derived from this software
    *    without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
    * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
    * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
    * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
    * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
    * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
    * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
    * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
    * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
    * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    ********************************************************************************/
   
   #ifndef AS2_BASIC_BEHAVIOR_HPP_
   #define AS2_BASIC_BEHAVIOR_HPP_
   
   #include <chrono>
   #include <cmath>
   #include <memory>
   #include <string>
   
   #include "as2_core/aerial_platform.hpp"
   #include "as2_core/node.hpp"
   #include "as2_core/sensor.hpp"
   #include "as2_msgs/msg/thrust.hpp"
   #include "geometry_msgs/msg/pose_stamped.hpp"
   #include "geometry_msgs/msg/twist_stamped.hpp"
   #include "nav_msgs/msg/odometry.hpp"
   #include "rclcpp_action/rclcpp_action.hpp"
   #include "sensor_msgs/msg/battery_state.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   
   namespace as2 {
   template <class MessageT>
   class BasicBehavior : public as2::Node {
   public:
     using GoalHandleAction = rclcpp_action::ServerGoalHandle<MessageT>;
   
     BasicBehavior(const std::string &name) : Node(name) {
       this->action_server_ = rclcpp_action::create_server<MessageT>(
           this, this->generate_global_name(name),
           std::bind(&BasicBehavior::handleGoal, this, std::placeholders::_1, std::placeholders::_2),
           std::bind(&BasicBehavior::handleCancel, this, std::placeholders::_1),
           std::bind(&BasicBehavior::handleAccepted, this, std::placeholders::_1));
     };
   
   public:
     virtual rclcpp_action::GoalResponse onAccepted(
         const std::shared_ptr<const typename MessageT::Goal> goal) = 0;
     virtual rclcpp_action::CancelResponse onCancel(
         const std::shared_ptr<GoalHandleAction> goal_handle) = 0;
     virtual void onExecute(
         const std::shared_ptr<GoalHandleAction> goal_handle) = 0;  // return true when finished
   
   private:
     rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID &uuid,
                                            std::shared_ptr<const typename MessageT::Goal> goal) {
       RCLCPP_DEBUG(this->get_logger(), "Received goal request with UUID: %d", uuid);
       return onAccepted(goal);
     }
   
     rclcpp_action::CancelResponse handleCancel(const std::shared_ptr<GoalHandleAction> goal_handle) {
       RCLCPP_INFO(this->get_logger(), "Request to cancel goal received");
       return onCancel(goal_handle);
     };
   
     // TODO: explore the use of Timers instead std::thread
     void handleAccepted(const std::shared_ptr<GoalHandleAction> goal_handle) {
       // this needs to return quickly to avoid blocking the executor, so spin up a new thread
       if (execution_thread_.joinable()) {
         execution_thread_.join();
       }
   
       execution_thread_ =
           std::thread(std::bind(&BasicBehavior::onExecute, this, std::placeholders::_1), goal_handle);
     };
   
   private:
     std::thread execution_thread_;
     typename rclcpp_action::Server<MessageT>::SharedPtr action_server_;
   
   };  // BasicBehavior class
   
   }  // end namespace as2
   
   #endif