handle_tracker_deleter.py

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# Copyright (c) 2009, Willow Garage, Inc.
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# Author: Alexander Sorokin.
# Based on C++ goal_id_generator.h/cpp
import rospy


class HandleTrackerDeleter:
    """
    * @class HandleTrackerDeleter
    * @brief A class to help with tracking GoalHandles and removing goals
    * from the status list when the last GoalHandle associated with a given
    * goal is deleted.
    """

    def __init__(self, action_server, status_tracker):
        """
        @brief create deleter
        """
        self.action_server = action_server
        self.status_tracker = status_tracker

    def __call__(self, ptr):
        if self.action_server:
            with self.action_server.lock:
                self.status_tracker.handle_destruction_time = rospy.Time.now()