00001 /* 00002 * Software License Agreement (Modified BSD License) 00003 * 00004 * Copyright (c) 2013, PAL Robotics, S.L. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of PAL Robotics, S.L. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00038 #ifndef PLAYMOTIONSERVER_H 00039 #define PLAYMOTIONSERVER_H 00040 00041 #include <string> 00042 #include <vector> 00043 #include <map> 00044 #include <ros/ros.h> 00045 #include <boost/shared_ptr.hpp> 00046 #include <actionlib/server/action_server.h> 00047 00048 #include "play_motion/play_motion.h" 00049 #include "play_motion_msgs/PlayMotionAction.h" 00050 #include "play_motion_msgs/ListMotions.h" 00051 00052 namespace play_motion 00053 { 00054 class PlayMotionServer 00055 { 00056 private: 00057 typedef actionlib::ActionServer<play_motion_msgs::PlayMotionAction> AlServer; 00058 typedef boost::shared_ptr<PlayMotion> PlayMotionPtr; 00059 00060 public: 00061 PlayMotionServer(const ros::NodeHandle& nh, const PlayMotionPtr& pm); 00062 virtual ~PlayMotionServer(); 00063 00064 private: 00065 void playMotionCb(const PlayMotion::GoalHandle& goal_hdl); 00066 void alCancelCb(AlServer::GoalHandle gh); 00067 void alGoalCb(AlServer::GoalHandle gh); 00068 bool findGoalId(AlServer::GoalHandle gh, PlayMotion::GoalHandle& goal_id); 00069 bool listMotions(play_motion_msgs::ListMotions::Request& req, 00070 play_motion_msgs::ListMotions::Response& resp); 00071 00072 ros::NodeHandle nh_; 00073 std::vector<std::string> clist_; 00074 PlayMotionPtr pm_; 00075 AlServer al_server_; 00076 std::map<PlayMotion::GoalHandle, AlServer::GoalHandle> al_goals_; 00077 ros::ServiceServer list_motions_srv_; 00078 }; 00079 } 00080 00081 #endif