bwi_interruptable_action_server: interruptable_action

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00034 
00035 #ifndef BWI_INTERRUPTABLE_ACTION_SERVER_H_
00036 #define BWI_INTERRUPTABLE_ACTION_SERVER_H_
00037 
00038 #include <boost/thread/condition.hpp>
00039 #include <ros/ros.h>
00040 #include <actionlib/server/action_server.h>
00041 #include <actionlib/client/simple_action_client.h>
00042 #include <actionlib/action_definition.h>
00043 #include <std_srvs/Empty.h>
00044 
00045 namespace bwi_interruptable_action_server {
00046   template <class ActionSpec>
00047   class InterruptableActionServer {
00048     public:
00049 
00050       ACTION_DEFINITION(ActionSpec);
00051 
00052       typedef typename actionlib::ActionServer<ActionSpec>::GoalHandle GoalHandle;
00053       typedef boost::function<void(const ResultConstPtr&, const actionlib::SimpleClientGoalState&, int)> ResultCallback;
00054       typedef boost::function<void(const GoalConstPtr&)> NewGoalCallback;
00055       
00056       InterruptableActionServer(ros::NodeHandle n, 
00057                                 std::string name, 
00058                                 int max_attempts = 1, 
00059                                 NewGoalCallback new_goal_callback = 0,
00060                                 ResultCallback result_callback = 0);
00061       ~InterruptableActionServer();
00062 
00063       void spin();
00064 
00065     protected:
00066 
00067       bool pause(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
00068       bool resume(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
00069       void goalCallback(GoalHandle goal);
00070       void cancelCallback(GoalHandle preempt);
00071 
00072       void publishFeedback(const FeedbackConstPtr& feedback);
00073 
00074       ros::NodeHandle n_;
00075 
00076       ros::ServiceServer pause_server_;
00077       ros::ServiceServer resume_server_;
00078 
00079       boost::shared_ptr<actionlib::ActionServer<ActionSpec> > as_;
00080       boost::shared_ptr<actionlib::SimpleActionClient<ActionSpec> > ac_;
00081 
00082       boost::recursive_mutex lock_;
00083 
00084       std::string interruptable_server_name_;
00085 
00086       GoalHandle current_goal_, original_goal_, next_goal_;
00087 
00088       bool original_goal_available_;
00089       bool switch_to_original_goal_;
00090       bool next_goal_available_;
00091       bool pursue_current_goal_;
00092       bool pursuing_current_goal_;
00093 
00094       int max_attempts_;
00095       int current_attempts_;
00096       ResultCallback result_callback_;
00097 
00098       NewGoalCallback new_goal_callback_;
00099   };
00100 };
00101 
00102 //include the implementation here
00103 #include <bwi_interruptable_action_server/interruptable_action_server_imp.h>
00104 #endif