queued_action_server.h

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#ifndef QUEUED_ACTION_SERVER_H_
#define QUEUED_ACTION_SERVER_H_

#include <actionlib/action_definition.h>
#include <actionlib/server/action_server.h>
#include <ros/ros.h>

#include <condition_variable>
#include <string>
#include <thread>
#include <atomic>
#include <mutex>

namespace actionlib {
template <class ActionSpec>
class QueuedActionServer {
public:
    // Generates typedefs that we'll use to make our lives easier
    ACTION_DEFINITION(ActionSpec);

    // More useful typedefs
    typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
    typedef boost::function<void(const GoalConstPtr &)> ExecuteCallback;

    QueuedActionServer(std::string name, ExecuteCallback execute_callback);
    QueuedActionServer(ros::NodeHandle n, std::string name, ExecuteCallback execute_callback);
    ~QueuedActionServer();

    boost::shared_ptr<const Goal> acceptNewGoal();
    bool isNewGoalAvailable();
    bool isPreemptRequested();
    bool isActive();
    void setSucceeded(const Result &result = Result(), const std::string &text = std::string(""));
    void setAborted(const Result &result = Result(), const std::string &text = std::string(""));
    void setPreempted(const Result &result = Result(), const std::string &text = std::string(""));
    void start();
    void shutdown();

private:
    void goalCallback(GoalHandle preempt);
    void preemptCallback(GoalHandle preempt);

    void executeLoop();

    ros::NodeHandle n_;

    std::shared_ptr<ActionServer<ActionSpec>> as;

    GoalHandle current_goal, next_goal;

    bool new_goal_, preempt_request_, new_goal_preempt_request_;

    std::recursive_mutex lock;

    ExecuteCallback execute_callback;
    std::condition_variable_any execute_condition;
    std::thread *execute_thread;

    std::atomic<bool> need_to_terminate;
};

}  // namespace actionlib

// include the implementation here
#include <move_basic/queued_action_server_imp.h>
#endif