00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_ 00038 #define ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_ 00039 00040 #include <actionlib_msgs/GoalID.h> 00041 #include <actionlib_msgs/GoalStatus.h> 00042 #include <actionlib/action_definition.h> 00043 #include <actionlib/server/status_tracker.h> 00044 #include <actionlib/destruction_guard.h> 00045 #include <boost/shared_ptr.hpp> 00046 00047 #include <list> 00048 #include <string> 00049 00050 namespace actionlib 00051 { 00052 // forward declaration of ActionServerBase 00053 template<class ActionSpec> 00054 class ActionServerBase; 00055 00062 template<class ActionSpec> 00063 class ServerGoalHandle 00064 { 00065 private: 00066 // generates typedefs that we'll use to make our lives easier 00067 ACTION_DEFINITION(ActionSpec); 00068 00069 public: 00073 ServerGoalHandle(); 00074 00079 ServerGoalHandle(const ServerGoalHandle & gh); 00080 00086 void setAccepted(const std::string & text = std::string("")); 00087 00094 void setCanceled(const Result & result = Result(), const std::string & text = std::string("")); 00095 00101 void setRejected(const Result & result = Result(), const std::string & text = std::string("")); 00102 00108 void setAborted(const Result & result = Result(), const std::string & text = std::string("")); 00109 00115 void setSucceeded(const Result & result = Result(), const std::string & text = std::string("")); 00116 00121 void publishFeedback(const Feedback & feedback); 00122 00131 bool isValid() const; 00132 00137 boost::shared_ptr<const Goal> getGoal() const; 00138 00143 actionlib_msgs::GoalID getGoalID() const; 00144 00149 actionlib_msgs::GoalStatus getGoalStatus() const; 00150 00155 ServerGoalHandle & operator=(const ServerGoalHandle & gh); 00156 00162 bool operator==(const ServerGoalHandle & other) const; 00163 00169 bool operator!=(const ServerGoalHandle & other) const; 00170 00171 private: 00175 ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it, 00176 ActionServerBase<ActionSpec> * as, boost::shared_ptr<void> handle_tracker, 00177 boost::shared_ptr<DestructionGuard> guard); 00178 00183 bool setCancelRequested(); 00184 00185 typename std::list<StatusTracker<ActionSpec> >::iterator status_it_; 00186 boost::shared_ptr<const ActionGoal> goal_; 00187 ActionServerBase<ActionSpec> * as_; 00188 boost::shared_ptr<void> handle_tracker_; 00189 boost::shared_ptr<DestructionGuard> guard_; 00190 friend class ActionServerBase<ActionSpec>; 00191 }; 00192 00193 } // namespace actionlib 00194 00195 // include the implementation 00196 #include <actionlib/server/server_goal_handle_imp.h> 00197 00198 #endif // ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_