.. _program_listing_file_include_moveit_simple_controller_manager_action_based_controller_handle.h:

Program Listing for File action_based_controller_handle.h
=========================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_simple_controller_manager_action_based_controller_handle.h>` (``include/moveit_simple_controller_manager/action_based_controller_handle.h``)

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

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2013, Unbounded Robotics Inc.
    *  Copyright (c) 2012, Willow Garage, Inc.
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
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    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * 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.
    *   * Neither the name of the Willow Garage 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
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    *  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.
    *********************************************************************/
   
   /* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_action/rclcpp_action.hpp>
   #include <moveit/controller_manager/controller_manager.h>
   #include <moveit/macros/class_forward.h>
   #include <memory>
   
   namespace moveit_simple_controller_manager
   {
   using namespace std::chrono_literals;
   
   /*
    * This exist solely to inject addJoint/getJoints into base non-templated class.
    */
   class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveItControllerHandle
   {
   public:
     ActionBasedControllerHandleBase(const std::string& name, const std::string& logger_name)
       : moveit_controller_manager::MoveItControllerHandle(name), logger_(rclcpp::get_logger(logger_name))
     {
     }
   
     virtual void addJoint(const std::string& name) = 0;
     virtual void getJoints(std::vector<std::string>& joints) = 0;
     // TODO(JafarAbdi): Revise parameter lookup
     //  virtual void configure(XmlRpc::XmlRpcValue& /* config */)
     //  {
     //  }
   
   protected:
     const rclcpp::Logger logger_;
   };
   
   MOVEIT_CLASS_FORWARD(
       ActionBasedControllerHandleBase);  // Defines ActionBasedControllerHandleBasePtr, ConstPtr, WeakPtr... etc
   
   template <typename T>
   class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
   {
   public:
     ActionBasedControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name, const std::string& ns,
                                 const std::string& logger_name)
       : ActionBasedControllerHandleBase(name, logger_name), node_(node), done_(true), namespace_(ns)
     {
       // Creating the action client does not ensure that the action server is actually running. Executing trajectories
       // through the controller handle will fail if the server is not running when an action goal message is sent.
       controller_action_client_ = rclcpp_action::create_client<T>(node, getActionName());
       last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
     }
   
     bool cancelExecution() override
     {
       if (!controller_action_client_)
         return false;
       if (!done_)
       {
         RCLCPP_INFO_STREAM(logger_, "Cancelling execution for " << name_);
         auto cancel_result_future = controller_action_client_->async_cancel_goal(current_goal_);
   
         const auto& result = cancel_result_future.get();
         if (!result)
           RCLCPP_ERROR(logger_, "Failed to cancel goal");
   
         last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
         done_ = true;
       }
       return true;
     }
   
     virtual void
     controllerDoneCallback(const typename rclcpp_action::ClientGoalHandle<T>::WrappedResult& wrapped_result) = 0;
   
     bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration::from_seconds(-1.0)) override
     {
       auto result_callback_done = std::make_shared<std::promise<bool>>();
       auto result_future = controller_action_client_->async_get_result(
           current_goal_, [this, result_callback_done](const auto& wrapped_result) {
             controllerDoneCallback(wrapped_result);
             result_callback_done->set_value(true);
           });
       if (timeout < std::chrono::nanoseconds(0))
       {
         result_future.wait();
       }
       else
       {
         std::future_status status;
         if (node_->get_parameter("use_sim_time").as_bool())
         {
           const auto start = node_->now();
           do
           {
             status = result_future.wait_for(50ms);
             if ((status == std::future_status::timeout) and ((node_->now() - start) > timeout))
             {
               RCLCPP_WARN(logger_, "waitForExecution timed out");
               return false;
             }
           } while (status == std::future_status::timeout);
         }
         else
         {
           status = result_future.wait_for(timeout.to_chrono<std::chrono::duration<double>>());
           if (status == std::future_status::timeout)
           {
             RCLCPP_WARN(logger_, "waitForExecution timed out");
             return false;
           }
         }
       }
       // To accommodate for the delay after the future for the result is ready and the time controllerDoneCallback takes to finish
       result_callback_done->get_future().wait();
       return true;
     }
   
     moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
     {
       return last_exec_;
     }
   
     void addJoint(const std::string& name) override
     {
       joints_.push_back(name);
     }
   
     void getJoints(std::vector<std::string>& joints) override
     {
       joints = joints_;
     }
   
   protected:
     const rclcpp::Node::SharedPtr node_;
   
     bool isConnected() const
     {
       return controller_action_client_->action_server_is_ready();
     }
   
     std::string getActionName() const
     {
       if (namespace_.empty())
       {
         return name_;
       }
       else
       {
         return name_ + "/" + namespace_;
       }
     }
   
     void finishControllerExecution(const rclcpp_action::ResultCode& state)
     {
       RCLCPP_DEBUG_STREAM(logger_, "Controller " << name_ << " is done with state " << static_cast<int>(state));
       if (state == rclcpp_action::ResultCode::SUCCEEDED)
       {
         last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
       }
       else if (state == rclcpp_action::ResultCode::ABORTED)
       {
         last_exec_ = moveit_controller_manager::ExecutionStatus::ABORTED;
       }
       else if (state == rclcpp_action::ResultCode::CANCELED)
       {
         last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
       }
       else if (state == rclcpp_action::ResultCode::UNKNOWN)
       {
         last_exec_ = moveit_controller_manager::ExecutionStatus::UNKNOWN;
       }
       else
       {
         last_exec_ = moveit_controller_manager::ExecutionStatus::FAILED;
       }
       done_ = true;
     }
   
     moveit_controller_manager::ExecutionStatus last_exec_;
   
     bool done_;
   
     std::string namespace_;
   
     std::vector<std::string> joints_;
   
     typename rclcpp_action::Client<T>::SharedPtr controller_action_client_;
   
     typename rclcpp_action::ClientGoalHandle<T>::SharedPtr current_goal_;
   };
   
   }  // namespace moveit_simple_controller_manager