simple_execute_ref_server.cpp
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00034 
00036 
00037 #include <actionlib/server/simple_action_server.h>
00038 #include <actionlib/TestAction.h>
00039 #include <ros/ros.h>
00040 
00041 namespace actionlib
00042 {
00043 
00044 class SimpleExecuteRefServer
00045 {
00046 public:
00047   typedef ServerGoalHandle<TestAction> GoalHandle;
00048 
00049   SimpleExecuteRefServer();
00050 
00051 private:
00052   ros::NodeHandle nh_;
00053   SimpleActionServer<TestAction> as_;
00054 
00055   void executeCallback(const TestGoalConstPtr & goal);
00056 };
00057 
00058 }  // namespace actionlib
00059 
00060 using namespace actionlib;
00061 
00062 SimpleExecuteRefServer::SimpleExecuteRefServer()
00063 : as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this,
00064     _1), false)
00065 {
00066   as_.start();
00067 }
00068 
00069 void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr & goal)
00070 {
00071   ROS_DEBUG_NAMED("actionlib", "Got a goal of type [%u]", goal->goal);
00072   switch (goal->goal) {
00073     case 1:
00074       ROS_DEBUG_NAMED("actionlib", "Got goal #1");
00075       as_.setSucceeded(TestResult(), "The ref server has succeeded");
00076       break;
00077     case 2:
00078       ROS_DEBUG_NAMED("actionlib", "Got goal #2");
00079       as_.setAborted(TestResult(), "The ref server has aborted");
00080       break;
00081     case 4:
00082       {
00083         ROS_DEBUG_NAMED("actionlib", "Got goal #4");
00084         ros::Duration sleep_dur(.1);
00085         for (unsigned int i = 0; i < 100; i++) {
00086           sleep_dur.sleep();
00087           if (as_.isPreemptRequested()) {
00088             as_.setPreempted();
00089             return;
00090           }
00091         }
00092         as_.setAborted();
00093         break;
00094       }
00095     default:
00096       break;
00097   }
00098 }
00099 
00100 int main(int argc, char ** argv)
00101 {
00102   ros::init(argc, argv, "ref_server");
00103 
00104   SimpleExecuteRefServer server;
00105 
00106   ros::spin();
00107 
00108   return 0;
00109 }


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Sep 28 2017 02:51:16