00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTIONLIB_SERVER_GOAL_HANDLE_H_ 00038 #define ACTIONLIB_SERVER_GOAL_HANDLE_H_ 00039 00040 #include <actionlib_msgs/GoalID.h> 00041 #include <actionlib_msgs/GoalStatus.h> 00042 #include <actionlib/action_definition.h> 00043 #include <actionlib/server/status_tracker.h> 00044 #include <actionlib/destruction_guard.h> 00045 #include <boost/shared_ptr.hpp> 00046 00047 namespace actionlib { 00048 //forward declaration of ActionServerBase 00049 template <class ActionSpec> 00050 class ActionServerBase; 00051 00058 template <class ActionSpec> 00059 class ServerGoalHandle { 00060 private: 00061 //generates typedefs that we'll use to make our lives easier 00062 ACTION_DEFINITION(ActionSpec); 00063 00064 public: 00068 ServerGoalHandle(); 00069 00074 ServerGoalHandle(const ServerGoalHandle& gh); 00075 00081 void setAccepted(const std::string& text = std::string("")); 00082 00089 void setCanceled(const Result& result = Result(), const std::string& text = std::string("")); 00090 00096 void setRejected(const Result& result = Result(), const std::string& text = std::string("")); 00097 00103 void setAborted(const Result& result = Result(), const std::string& text = std::string("")); 00104 00110 void setSucceeded(const Result& result = Result(), const std::string& text = std::string("")); 00111 00116 void publishFeedback(const Feedback& feedback); 00117 00126 bool isValid() const; 00127 00132 boost::shared_ptr<const Goal> getGoal() const; 00133 00138 actionlib_msgs::GoalID getGoalID() const; 00139 00144 actionlib_msgs::GoalStatus getGoalStatus() const; 00145 00150 ServerGoalHandle& operator=(const ServerGoalHandle& gh); 00151 00157 bool operator==(const ServerGoalHandle& other) const; 00158 00164 bool operator!=(const ServerGoalHandle& other) const; 00165 00166 private: 00170 ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it, 00171 ActionServerBase<ActionSpec>* as, boost::shared_ptr<void> handle_tracker, boost::shared_ptr<DestructionGuard> guard); 00172 00177 bool setCancelRequested(); 00178 00179 typename std::list<StatusTracker<ActionSpec> >::iterator status_it_; 00180 boost::shared_ptr<const ActionGoal> goal_; 00181 ActionServerBase<ActionSpec>* as_; 00182 boost::shared_ptr<void> handle_tracker_; 00183 boost::shared_ptr<DestructionGuard> guard_; 00184 friend class ActionServerBase<ActionSpec>; 00185 }; 00186 00187 }; 00188 00189 //include the implementation 00190 #include <actionlib/server/server_goal_handle_imp.h> 00191 00192 #endif