Program Listing for File smacc_action_client.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <smacc2/smacc_client.hpp>
#include <smacc2/smacc_state_machine.hpp>
#include <rclcpp_action/client.hpp>
namespace smacc2
{
namespace client_bases
{
// This class interface shows the basic set of methods that
// a SMACC "resource" or "plugin" Action Client has
class ISmaccActionClient : public ISmaccClient
{
public:
ISmaccActionClient();
// The destructor. This is called when the object is not
// referenced anymore by its owner
virtual ~ISmaccActionClient();
// Gets the ros path of the action...
inline std::string getNamespace() const { return name_; }
virtual bool cancelGoal() = 0;
virtual std::shared_ptr<rclcpp_action::ClientBase> getClientBase() = 0;
virtual std::string getName() const { return name_; }
protected:
// The ros path where the action server is located
std::string name_;
};
} // namespace client_bases
} // namespace smacc2