QueuedActionServer< ActionSpec > Class Template Reference

#include <queued_action_server.h>

Public Types
using	ExecuteCallback = boost::function< void(GoalConstPtr const &)>
using	GoalHandle = typename actionlib::ActionServer< ActionSpec >::GoalHandle

Public Member Functions
bool	isPreemptRequested ()
void	publishFeedback (FeedbackConstPtr const &feedback)
void	publishFeedback (Feedback const &feedback)
	QueuedActionServer (ros::NodeHandle nodeHandle, std::string const &name, ExecuteCallback callback, bool autoStart=false)
void	setAborted (Result const &result=Result(), std::string const &text="")
void	setPreempted (Result const &result=Result(), std::string const &text="")
void	setSucceeded (Result const &result=Result(), std::string const &text="")
void	shutdown ()
void	start ()
	~QueuedActionServer ()

Private Member Functions
void	loop ()
void	onCancelReceived (GoalHandle goal)
void	onGoalReceived (GoalHandle goal)

Private Attributes
std::unique_ptr< actionlib::ActionServer< ActionSpec > >	actionServer
ExecuteCallback	callback
GoalHandle	currentGoal
std::queue< GoalHandle >	goalQueue
std::condition_variable	loopCondition
std::thread	loopThread
std::mutex	mutex
ros::NodeHandle	nodeHandle
bool	preemptRequested = false
volatile bool	shutdownRequested = false

Detailed Description

template<class ActionSpec>
class QueuedActionServer< ActionSpec >

An action server that remembers a queue of goals that still have to be processed. This server will never reject or cancel any requests on its own.

The API is the same as for the SimpleActionServer.

Definition at line 24 of file queued_action_server.h.

Member Typedef Documentation

template<class ActionSpec >

using QueuedActionServer< ActionSpec >::ExecuteCallback = boost::function<void(GoalConstPtr const&)>

Definition at line 30 of file queued_action_server.h.

template<class ActionSpec >

using QueuedActionServer< ActionSpec >::GoalHandle = typename actionlib::ActionServer<ActionSpec>::GoalHandle

Definition at line 28 of file queued_action_server.h.

Constructor & Destructor Documentation

template<class ActionSpec >

QueuedActionServer< ActionSpec >::QueuedActionServer ( ros::NodeHandle  nodeHandle, std::string const &  name, ExecuteCallback  callback, bool  autoStart = false  )

inline

Definition at line 33 of file queued_action_server.h.

template<class ActionSpec >

QueuedActionServer< ActionSpec >::~QueuedActionServer ( )

inline

Definition at line 47 of file queued_action_server.h.

Member Function Documentation

template<class ActionSpec >

bool QueuedActionServer< ActionSpec >::isPreemptRequested ( )

inline

Definition at line 67 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::loop ( )

inlineprivate

Definition at line 136 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::onCancelReceived ( GoalHandle  goal )

inlineprivate

Definition at line 116 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::onGoalReceived ( GoalHandle  goal )

inlineprivate

Definition at line 107 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::publishFeedback ( FeedbackConstPtr const &  feedback )

inline

Definition at line 96 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::publishFeedback ( Feedback const &  feedback )

inline

Definition at line 101 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::setAborted ( Result const &  result = Result(), std::string const &  text = ""  )

inline

Definition at line 80 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::setPreempted ( Result const &  result = Result(), std::string const &  text = ""  )

inline

Definition at line 88 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::setSucceeded ( Result const &  result = Result(), std::string const &  text = ""  )

inline

Definition at line 72 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::shutdown ( )

inline

Definition at line 58 of file queued_action_server.h.

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::start ( )

inline

Definition at line 52 of file queued_action_server.h.

Member Data Documentation

template<class ActionSpec >

std::unique_ptr<actionlib::ActionServer<ActionSpec> > QueuedActionServer< ActionSpec >::actionServer

private

Definition at line 189 of file queued_action_server.h.

template<class ActionSpec >

ExecuteCallback QueuedActionServer< ActionSpec >::callback

private

Definition at line 196 of file queued_action_server.h.

template<class ActionSpec >

GoalHandle QueuedActionServer< ActionSpec >::currentGoal

private

Definition at line 198 of file queued_action_server.h.

template<class ActionSpec >

std::queue<GoalHandle> QueuedActionServer< ActionSpec >::goalQueue

private

Definition at line 199 of file queued_action_server.h.

template<class ActionSpec >

std::condition_variable QueuedActionServer< ActionSpec >::loopCondition

private

Definition at line 194 of file queued_action_server.h.

template<class ActionSpec >

std::thread QueuedActionServer< ActionSpec >::loopThread

private

Definition at line 191 of file queued_action_server.h.

template<class ActionSpec >

std::mutex QueuedActionServer< ActionSpec >::mutex

private

Definition at line 193 of file queued_action_server.h.

template<class ActionSpec >

ros::NodeHandle QueuedActionServer< ActionSpec >::nodeHandle

private

Definition at line 188 of file queued_action_server.h.

template<class ActionSpec >

bool QueuedActionServer< ActionSpec >::preemptRequested = false

private

Definition at line 202 of file queued_action_server.h.

template<class ActionSpec >

volatile bool QueuedActionServer< ActionSpec >::shutdownRequested = false

private

Definition at line 204 of file queued_action_server.h.

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

• queued_action_server.h