flexbe_input.complex_action_server.ComplexActionServer Class Reference

The ComplexActionServer Operate with concurrent goals in a multi-threaded fashion. More...

Public Member Functions
def	__del__ (self)
def	__init__ (self, name, ActionSpec, execute_cb=None, auto_start=True)
	Constructor for a ComplexActionServer. More...
def	accept_new_goal (self)
	Accepts a new goal when one is available The status of this goal is set to active upon acceptance,. More...
def	executeLoop (self)
	Called from a separate thread to call blocking execute calls. More...
def	get_default_result (self)
def	internal_goal_callback (self, goal)
	Callback for when the ActionServer receives a new goal and passes it on. More...
def	internal_preempt_callback (self, preempt)
	Callback for when the ActionServer receives a new preempt and passes it on. More...
def	is_active (self)
	Allows polling implementations to query about the status of the current goal. More...
def	is_new_goal_available (self)
	Allows polling implementations to query about the availability of a new goal. More...
def	publish_feedback (self, feedback)
	Publishes feedback for a given goal. More...
def	register_goal_callback (self, cb)
	Allows users to register a callback to be invoked when a new goal is available. More...
def	run_goal (self, goal, goal_handle)
def	set_aborted (self, result=None, text="", goal_handle=None)
	Sets the status of the active goal to aborted. More...
def	set_succeeded (self, result=None, text="", goal_handle=None)
	Sets the status of the active goal to succeeded. More...
def	start (self)
	Explicitly start the action server, used it auto_start is set to false. More...

Public Attributes
	action_server
	current_goal
	execute_callback
	execute_condition
	execute_thread
	goal_callback
	goal_queue_
	goals_received_
	lock
	need_to_terminate
	new_goal
	next_goal
	terminate_mutex

Detailed Description

The ComplexActionServer Operate with concurrent goals in a multi-threaded fashion.

Definition at line 50 of file complex_action_server.py.

Constructor & Destructor Documentation

def flexbe_input.complex_action_server.ComplexActionServer.__init__	(		self,
			name,
			ActionSpec,
			execute_cb = None,
			auto_start = True
	)

Constructor for a ComplexActionServer.

Parameters

name	A name for the action server
execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.
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 57 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.__del__

(

self

)

Definition at line 92 of file complex_action_server.py.

Member Function Documentation

def flexbe_input.complex_action_server.ComplexActionServer.accept_new_goal

(

self

)

Accepts a new goal when one is available The status of this goal is set to active upon acceptance,.

Definition at line 103 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.executeLoop

(

self

)

Called from a separate thread to call blocking execute calls.

Definition at line 205 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.get_default_result

(

self

)

Definition at line 158 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.internal_goal_callback	(		self,
			goal
	)

Callback for when the ActionServer receives a new goal and passes it on.

Definition at line 176 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.internal_preempt_callback	(		self,
			preempt
	)

Callback for when the ActionServer receives a new preempt and passes it on.

Definition at line 201 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.is_active

(

self

)

Allows polling implementations to query about the status of the current goal.

Returns

True if a goal is active, false otherwise

Definition at line 127 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.is_new_goal_available

(

self

)

Allows polling implementations to query about the availability of a new goal.

Returns

True if a new goal is available, false otherwise

Definition at line 121 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.publish_feedback	(		self,
			feedback
	)

Publishes feedback for a given goal.

Parameters

feedback

Shared pointer to the feedback to publish

Definition at line 154 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.register_goal_callback	(		self,
			cb
	)

Allows users to register a callback to be invoked when a new goal is available.

Parameters

cb	The callback to be invoked

Definition at line 163 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.run_goal	(		self,
			goal,
			goal_handle
	)

Definition at line 239 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.set_aborted	(		self,
			result = None,
			text = "",
			goal_handle = None
	)

Sets the status of the active goal to aborted.

Parameters

result

An optional result to send back to any clients of the goal

Definition at line 145 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.set_succeeded	(		self,
			result = None,
			text = "",
			goal_handle = None
	)

Sets the status of the active goal to succeeded.

Parameters

result

An optional result to send back to any clients of the goal

Definition at line 136 of file complex_action_server.py.

def flexbe_input.complex_action_server.ComplexActionServer.start

(

self

)

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

Definition at line 171 of file complex_action_server.py.

Member Data Documentation

flexbe_input.complex_action_server.ComplexActionServer.action_server

Definition at line 89 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.current_goal

Definition at line 78 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.execute_callback

Definition at line 64 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.execute_condition

Definition at line 76 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.execute_thread

Definition at line 82 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.goal_callback

Definition at line 65 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.goal_queue_

Definition at line 60 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.goals_received_

Definition at line 59 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.lock

Definition at line 74 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.need_to_terminate

Definition at line 67 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.new_goal

Definition at line 62 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.next_goal

Definition at line 79 of file complex_action_server.py.

flexbe_input.complex_action_server.ComplexActionServer.terminate_mutex

Definition at line 68 of file complex_action_server.py.

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

• complex_action_server.py