#include <MultiGoalActionServer.h>

Classes
class	GoalQueue
class	GoalQueueItem
Public Types
typedef boost::function< void(GoalHandle)>	ExecuteCallback
typedef ActionServer < ActionSpec >::GoalHandle	GoalHandle
Public Member Functions
	ACTION_DEFINITION (ActionSpec)
bool	isActive (GoalHandle goal)
	Allows polling implementations to query about the status of the current goal.
bool	isPreemptRequested (GoalHandle goal)
	Allows polling implementations to query about preempt requests.
	MGActionServer (ros::NodeHandle n, std::string name, ExecuteCallback execute_cb, bool auto_start)
	Constructor for a MGActionServer.
void	removePreemptedGoals (std::vector< boost::thread * > &thread_for_delete)
void	requestPreemption (GoalHandle gh)
void	setAborted (GoalHandle gh, const Result &result=Result(), const std::string &text=std::string(""))
	Sets the status of the active goal to aborted.
void	setPreempted (GoalHandle gh, const Result &result=Result(), const std::string &text=std::string(""))
	Sets the status of the active goal to preempted.
void	setSucceeded (GoalHandle gh, const Result &result=Result(), const std::string &text=std::string(""))
	Sets the status of the active goal to succeeded.
void	shutdown ()
	Explicitly shutdown the action server.
void	start ()
	Explicitly start the action server, used it auto_start is set to false.
	~MGActionServer ()
Private Member Functions
void	executeLoop ()
	Called from a separate thread to call blocking execute calls.
void	goalCallback (GoalHandle goal)
	Callback for when the ActionServer receives a new goal and passes it on.
void	preemptCallback (GoalHandle preempt)
	Callback for when the ActionServer receives a new preempt and passes it on.
Private Attributes
GoalQueue	active_goals
boost::shared_ptr < ActionServer< ActionSpec > >	as_
ExecuteCallback	execute_callback_
boost::condition	execute_condition_
boost::thread *	execute_thread_
boost::recursive_mutex	lock_
ros::NodeHandle	n_
bool	need_to_terminate_
GoalQueue	new_goals
boost::mutex	terminate_mutex_

Detailed Description

template<class ActionSpec>
class actionlib::MGActionServer< ActionSpec >

MGActionServer implements a multi goal policy on top of the ActionServer class. The specification of the policy is as follows: number of goals can have an active status at a time.

Definition at line 60 of file MultiGoalActionServer.h.

Member Typedef Documentation

template<class ActionSpec>

typedef boost::function<void (GoalHandle)> actionlib::MGActionServer< ActionSpec >::ExecuteCallback

Definition at line 66 of file MultiGoalActionServer.h.

template<class ActionSpec>

typedef ActionServer<ActionSpec>::GoalHandle actionlib::MGActionServer< ActionSpec >::GoalHandle

Definition at line 65 of file MultiGoalActionServer.h.

Constructor & Destructor Documentation

template<class ActionSpec >

actionlib::MGActionServer< ActionSpec >::MGActionServer	(	ros::NodeHandle	n,
		std::string	name,
		ExecuteCallback	execute_cb,
		bool	auto_start
	)

Constructor for a MGActionServer.

Parameters:

n	A NodeHandle to create a namespace under
name	A name for the action server
execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.
auto_start	A boolean value that tells the ActionServer wheteher or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 215 of file MultiGoalActionServer.h.

template<class ActionSpec >

actionlib::MGActionServer< ActionSpec >::~MGActionServer ( )

Definition at line 238 of file MultiGoalActionServer.h.

Member Function Documentation

template<class ActionSpec>

actionlib::MGActionServer< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::executeLoop ( ) [private]

Called from a separate thread to call blocking execute calls.

Definition at line 368 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::goalCallback ( GoalHandle goal ) [private]

Callback for when the ActionServer receives a new goal and passes it on.

Definition at line 313 of file MultiGoalActionServer.h.

template<class ActionSpec >

bool actionlib::MGActionServer< ActionSpec >::isActive ( GoalHandle goal )

Allows polling implementations to query about the status of the current goal.

Returns:: True if a goal is active, false otherwise

Definition at line 279 of file MultiGoalActionServer.h.

template<class ActionSpec >

bool actionlib::MGActionServer< ActionSpec >::isPreemptRequested ( GoalHandle goal )

Allows polling implementations to query about preempt requests.

Returns:: True if a preempt is requested, false otherwise

Definition at line 271 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::preemptCallback ( GoalHandle preempt ) [private]

Callback for when the ActionServer receives a new preempt and passes it on.

Definition at line 322 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::removePreemptedGoals ( std::vector< boost::thread * > & thread_for_delete )

Definition at line 343 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::requestPreemption ( GoalHandle gh )

Definition at line 262 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::setAborted	(	GoalHandle	gh,
		const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Sets the status of the active goal to aborted.

Parameters:

result	An optional result to send back to any clients of the goal
result	An optional text message to send back to any clients of the goal

Definition at line 297 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::setPreempted	(	GoalHandle	gh,
		const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Sets the status of the active goal to preempted.

Parameters:

result	An optional result to send back to any clients of the goal
result	An optional text message to send back to any clients of the goal

Definition at line 305 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::setSucceeded	(	GoalHandle	gh,
		const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Sets the status of the active goal to succeeded.

Parameters:

result	An optional result to send back to any clients of the goal
result	An optional text message to send back to any clients of the goal

Definition at line 289 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::shutdown ( )

Explicitly shutdown the action server.

Definition at line 245 of file MultiGoalActionServer.h.

template<class ActionSpec >

void actionlib::MGActionServer< ActionSpec >::start ( )

Explicitly start the action server, used it auto_start is set to false.

Definition at line 439 of file MultiGoalActionServer.h.

Member Data Documentation

template<class ActionSpec>

GoalQueue actionlib::MGActionServer< ActionSpec >::active_goals [private]

Definition at line 193 of file MultiGoalActionServer.h.

template<class ActionSpec>

boost::shared_ptr<ActionServer<ActionSpec> > actionlib::MGActionServer< ActionSpec >::as_ [private]

Definition at line 190 of file MultiGoalActionServer.h.

template<class ActionSpec>

ExecuteCallback actionlib::MGActionServer< ActionSpec >::execute_callback_ [private]

Definition at line 199 of file MultiGoalActionServer.h.

template<class ActionSpec>

boost::condition actionlib::MGActionServer< ActionSpec >::execute_condition_ [private]

Definition at line 201 of file MultiGoalActionServer.h.

template<class ActionSpec>

boost::thread* actionlib::MGActionServer< ActionSpec >::execute_thread_ [private]

Definition at line 202 of file MultiGoalActionServer.h.

template<class ActionSpec>

boost::recursive_mutex actionlib::MGActionServer< ActionSpec >::lock_ [private]

Definition at line 197 of file MultiGoalActionServer.h.

template<class ActionSpec>

ros::NodeHandle actionlib::MGActionServer< ActionSpec >::n_ [private]

Definition at line 188 of file MultiGoalActionServer.h.

template<class ActionSpec>

bool actionlib::MGActionServer< ActionSpec >::need_to_terminate_ [private]

Definition at line 205 of file MultiGoalActionServer.h.

template<class ActionSpec>

GoalQueue actionlib::MGActionServer< ActionSpec >::new_goals [private]

Definition at line 193 of file MultiGoalActionServer.h.

template<class ActionSpec>

boost::mutex actionlib::MGActionServer< ActionSpec >::terminate_mutex_ [private]

Definition at line 204 of file MultiGoalActionServer.h.

The documentation for this class was generated from the following file:

MultiGoalActionServer.h

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<class ActionSpec> class actionlib::MGActionServer< ActionSpec >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ActionSpec>
class actionlib::MGActionServer< ActionSpec >