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__STATUS_TRACKER_H_ 00038 #define ACTIONLIB__SERVER__STATUS_TRACKER_H_ 00039 00040 #include <actionlib_msgs/GoalID.h> 00041 #include <actionlib_msgs/GoalStatus.h> 00042 #include <actionlib/action_definition.h> 00043 00044 #include <actionlib/goal_id_generator.h> 00045 00046 namespace actionlib 00047 { 00048 00054 template<class ActionSpec> 00055 class StatusTracker 00056 { 00057 private: 00058 // generates typedefs that we'll use to make our lives easier 00059 ACTION_DEFINITION(ActionSpec); 00060 00061 public: 00062 StatusTracker(const actionlib_msgs::GoalID & goal_id, unsigned int status); 00063 00064 StatusTracker(const boost::shared_ptr<const ActionGoal> & goal); 00065 00066 boost::shared_ptr<const ActionGoal> goal_; 00067 boost::weak_ptr<void> handle_tracker_; 00068 actionlib_msgs::GoalStatus status_; 00069 ros::Time handle_destruction_time_; 00070 00071 private: 00072 GoalIDGenerator id_generator_; 00073 }; 00074 } // namespace actionlib 00075 00076 // include the implementation 00077 #include <actionlib/server/status_tracker_imp.h> 00078 #endif // ACTIONLIB__SERVER__STATUS_TRACKER_H_