The ActionServerBase implements the logic for an ActionServer. More...

#include <action_server_base.h>

Inheritance diagram for actionlib::ActionServerBase< ActionSpec >:

Public Types
typedef ServerGoalHandle < ActionSpec >	GoalHandle
Public Member Functions
	ACTION_DEFINITION (ActionSpec)
	ActionServerBase (boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb, bool auto_start=false)
	Constructor for an ActionServer.
void	cancelCallback (const boost::shared_ptr< const actionlib_msgs::GoalID > &goal_id)
	The ROS callback for cancel requests coming into the ActionServerBase.
void	goalCallback (const boost::shared_ptr< const ActionGoal > &goal)
	The ROS callback for goals coming into the ActionServerBase.
void	registerCancelCallback (boost::function< void(GoalHandle)> cb)
	Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.
void	registerGoalCallback (boost::function< void(GoalHandle)> cb)
	Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.
void	start ()
	Explicitly start the action server, used it auto_start is set to false.
virtual	~ActionServerBase ()
	Destructor for the ActionServerBase.
Protected Member Functions
virtual void	initialize ()=0
	Initialize all ROS connections and setup timers.
virtual void	publishFeedback (const actionlib_msgs::GoalStatus &status, const Feedback &feedback)=0
	Publishes feedback for a given goal.
virtual void	publishResult (const actionlib_msgs::GoalStatus &status, const Result &result)=0
	Publishes a result for a given goal.
virtual void	publishStatus ()=0
	Explicitly publish status.
Protected Attributes
boost::function< void(GoalHandle)>	cancel_callback_
boost::function< void(GoalHandle)>	goal_callback_
boost::shared_ptr < DestructionGuard >	guard_
GoalIDGenerator	id_generator_
ros::Time	last_cancel_
boost::recursive_mutex	lock_
bool	started_
std::list< StatusTracker < ActionSpec > >	status_list_
ros::Duration	status_list_timeout_
Friends
class	HandleTrackerDeleter< ActionSpec >
class	ServerGoalHandle< ActionSpec >

Detailed Description

template<class ActionSpec>
class actionlib::ActionServerBase< ActionSpec >

The ActionServerBase implements the logic for an ActionServer.

Definition at line 63 of file action_server_base.h.

Member Typedef Documentation

template<class ActionSpec>

typedef ServerGoalHandle<ActionSpec> actionlib::ActionServerBase< ActionSpec >::GoalHandle

Reimplemented in actionlib::ActionServer< ActionSpec >, actionlib::ActionServer< TestAction >, and actionlib::RefServer.

Definition at line 67 of file action_server_base.h.

Constructor & Destructor Documentation

template<class ActionSpec >

actionlib::ActionServerBase< ActionSpec >::ActionServerBase	(	boost::function< void(GoalHandle)>	goal_cb,
		boost::function< void(GoalHandle)>	cancel_cb,
		bool	auto_start = `false`
	)

Constructor for an ActionServer.

Parameters:

goal_cb	A goal callback to be called when the ActionServer receives a new goal over the wire
cancel_cb	A cancel callback to be called when the ActionServer receives a new cancel request over the wire
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 163 of file action_server_base.h.

template<class ActionSpec >

actionlib::ActionServerBase< ActionSpec >::~ActionServerBase ( ) [virtual]

Destructor for the ActionServerBase.

Definition at line 175 of file action_server_base.h.

Member Function Documentation

template<class ActionSpec>

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

Reimplemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::cancelCallback ( const boost::shared_ptr< const actionlib_msgs::GoalID > & goal_id )

The ROS callback for cancel requests coming into the ActionServerBase.

Definition at line 264 of file action_server_base.h.

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::goalCallback ( const boost::shared_ptr< const ActionGoal > & goal )

The ROS callback for goals coming into the ActionServerBase.

Definition at line 203 of file action_server_base.h.

template<class ActionSpec>

virtual void actionlib::ActionServerBase< ActionSpec >::initialize ( ) [protected, pure virtual]

Initialize all ROS connections and setup timers.

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

template<class ActionSpec>

virtual void actionlib::ActionServerBase< ActionSpec >::publishFeedback	(	const actionlib_msgs::GoalStatus &	status,
		const Feedback &	feedback
	)		`[protected, pure virtual]`

Publishes feedback for a given goal.

Parameters:

status	The status of the goal with which the feedback is associated
feedback	The feedback to publish

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

template<class ActionSpec>

virtual void actionlib::ActionServerBase< ActionSpec >::publishResult	(	const actionlib_msgs::GoalStatus &	status,
		const Result &	result
	)		`[protected, pure virtual]`

Publishes a result for a given goal.

Parameters:

status	The status of the goal with which the result is associated
result	The result to publish

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

template<class ActionSpec>

virtual void actionlib::ActionServerBase< ActionSpec >::publishStatus ( ) [protected, pure virtual]

Explicitly publish status.

Implemented in actionlib::ActionServer< ActionSpec >, and actionlib::ActionServer< TestAction >.

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::registerCancelCallback ( boost::function< void(GoalHandle)> cb )

Register a callback to be invoked when a new cancel is received, this will replace any previously registered callback.

Parameters:

cb	The callback to invoke

Definition at line 188 of file action_server_base.h.

template<class ActionSpec >

void actionlib::ActionServerBase< ActionSpec >::registerGoalCallback ( boost::function< void(GoalHandle)> cb )

Register a callback to be invoked when a new goal is received, this will replace any previously registered callback.

Parameters:

cb	The callback to invoke

Definition at line 182 of file action_server_base.h.

template<class ActionSpec >

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

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

Definition at line 194 of file action_server_base.h.

Friends And Related Function Documentation

template<class ActionSpec>

friend class HandleTrackerDeleter< ActionSpec > [friend]

Definition at line 120 of file action_server_base.h.

template<class ActionSpec>

friend class ServerGoalHandle< ActionSpec > [friend]

Definition at line 119 of file action_server_base.h.

Member Data Documentation

template<class ActionSpec>

boost::function<void(GoalHandle)> actionlib::ActionServerBase< ActionSpec >::cancel_callback_ [protected]

Definition at line 152 of file action_server_base.h.

template<class ActionSpec>

boost::function<void(GoalHandle)> actionlib::ActionServerBase< ActionSpec >::goal_callback_ [protected]

Definition at line 151 of file action_server_base.h.

template<class ActionSpec>

boost::shared_ptr<DestructionGuard> actionlib::ActionServerBase< ActionSpec >::guard_ [protected]

Definition at line 159 of file action_server_base.h.

template<class ActionSpec>

GoalIDGenerator actionlib::ActionServerBase< ActionSpec >::id_generator_ [protected]

Definition at line 157 of file action_server_base.h.

template<class ActionSpec>

ros::Time actionlib::ActionServerBase< ActionSpec >::last_cancel_ [protected]

Definition at line 154 of file action_server_base.h.

template<class ActionSpec>

boost::recursive_mutex actionlib::ActionServerBase< ActionSpec >::lock_ [protected]

Definition at line 147 of file action_server_base.h.

template<class ActionSpec>

bool actionlib::ActionServerBase< ActionSpec >::started_ [protected]

Definition at line 158 of file action_server_base.h.

template<class ActionSpec>

std::list<StatusTracker<ActionSpec> > actionlib::ActionServerBase< ActionSpec >::status_list_ [protected]

Definition at line 149 of file action_server_base.h.

template<class ActionSpec>

ros::Duration actionlib::ActionServerBase< ActionSpec >::status_list_timeout_ [protected]

Definition at line 155 of file action_server_base.h.

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

action_server_base.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<class ActionSpec> class actionlib::ActionServerBase< ActionSpec >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class ActionSpec>
class actionlib::ActionServerBase< ActionSpec >