00001 # Copyright (c) 2009, Willow Garage, Inc. 00002 # All rights reserved. 00003 # 00004 # Redistribution and use in source and binary forms, with or without 00005 # modification, are permitted provided that the following conditions are met: 00006 # 00007 # * Redistributions of source code must retain the above copyright 00008 # notice, this list of conditions and the following disclaimer. 00009 # * Redistributions in binary form must reproduce the above copyright 00010 # notice, this list of conditions and the following disclaimer in the 00011 # documentation and/or other materials provided with the distribution. 00012 # * Neither the name of the Willow Garage, Inc. nor the names of its 00013 # contributors may be used to endorse or promote products derived from 00014 # this software without specific prior written permission. 00015 # 00016 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00017 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00018 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00019 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00020 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00021 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00022 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00023 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00025 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00026 # POSSIBILITY OF SUCH DAMAGE. 00027 00028 # Author: Alexander Sorokin. 00029 # Based on C++ goal_id_generator.h/cpp 00030 00031 import rospy 00032 00033 class HandleTrackerDeleter: 00034 """ 00035 * @class HandleTrackerDeleter 00036 * @brief A class to help with tracking GoalHandles and removing goals 00037 * from the status list when the last GoalHandle associated with a given 00038 * goal is deleted. 00039 """ 00040 00041 def __init__(self, action_server, status_tracker): 00042 """ 00043 @brief create deleter 00044 """ 00045 self.action_server = action_server; 00046 self.status_tracker = status_tracker; 00047 00048 def __call__(self,ptr): 00049 if self.action_server: 00050 with self.action_server.lock: 00051 self.status_tracker.handle_destruction_time = rospy.Time.now();