Orocos RTT-Based Action Server. More...

#include <rtt_action_server.h>

Inheritance diagram for rtt_actionlib::RTTActionServer< ActionSpec >:

Public Types
typedef actionlib::ServerGoalHandle< ActionSpec >	GoalHandle

Public Types inherited from actionlib::ActionServerBase< ActionSpec >
typedef ServerGoalHandle< ActionSpec >	GoalHandle

Public Member Functions
	ACTION_DEFINITION (ActionSpec)

bool	addPorts (RTT::Service::shared_ptr service, const bool create_topics=false, const std::string &topic_namespace="")
	Add actionlib ports to a given rtt service. More...

const std::string	getName () const
	Get the name. More...

virtual void	initialize ()
	Set up status publishing timers. More...

virtual void	publishFeedback (const actionlib_msgs::GoalStatus &status, const Feedback &feedback)
	Publishes feedback for a given goal. More...

virtual void	publishResult (const actionlib_msgs::GoalStatus &status, const Result &result)
	Publishes a result for a given goal. More...

virtual void	publishStatus ()
	Explicitly publish status. More...

bool	ready ()
	Check if the server is ready to be started. More...

void	registerCancelOperation (RTT::OperationInterfacePart *operation)

void	registerGoalOperation (RTT::OperationInterfacePart *operation)

	RTTActionServer (const double status_period=0.200, const int sched=ORO_SCHED_OTHER)
	Constructor. More...

	RTTActionServer (const std::string name, const double status_period=0.200, const int sched=ORO_SCHED_OTHER)

void	shutdown ()
	Shutdown internal timer. More...

virtual	~RTTActionServer ()

Public Member Functions inherited from actionlib::ActionServerBase< ActionSpec >
	ActionServerBase (boost::function< void(GoalHandle)> goal_cb, boost::function< void(GoalHandle)> cancel_cb, bool auto_start=false)

void	cancelCallback (const boost::shared_ptr< const actionlib_msgs::GoalID > &goal_id)

void	goalCallback (const boost::shared_ptr< const ActionGoal > &goal)

void	registerCancelCallback (boost::function< void(GoalHandle)> cb)

void	registerGoalCallback (boost::function< void(GoalHandle)> cb)

void	start ()

virtual	~ActionServerBase ()

Private Member Functions
void	cancelCallback (RTT::base::PortInterface *port)

void	goalCallback (RTT::base::PortInterface *port)

void	goalCallbackWrapper (GoalHandle gh)

Private Attributes
rtt_actionlib::ActionBridge	action_bridge_
	Action bridge container for RTT ports corresponding to the action interface. More...

RTT::OperationCaller< void(GoalHandle)>	cancel_operation_

RTT::OperationCaller< void(GoalHandle)>	goal_operation_

std::string	name_
	Server name (used for naming timers and other resources) More...

double	status_period_
	Period (Hz) at which the status should be published. More...

RTTActionServerStatusTimer< ActionSpec >	status_timer_
	RTT Timer for periodic status updates. More...

Additional Inherited Members
Protected Attributes inherited from actionlib::ActionServerBase< ActionSpec >
boost::function< void(GoalHandle)>	cancel_callback_

boost::function< void(GoalHandle)>	goal_callback_

boost::shared_ptr< DestructionGuard >	guard_

GoalIDGenerator	id_generator_

ros::Time	last_cancel_

boost::recursive_mutex	lock_

bool	started_

std::list< StatusTracker< ActionSpec > >	status_list_

ros::Duration	status_list_timeout_

Detailed Description

template<class ActionSpec>
class rtt_actionlib::RTTActionServer< ActionSpec >

Orocos RTT-Based Action Server.

Definition at line 21 of file rtt_action_server.h.

Member Typedef Documentation

template<class ActionSpec>

typedef actionlib::ServerGoalHandle<ActionSpec> rtt_actionlib::RTTActionServer< ActionSpec >::GoalHandle

Definition at line 55 of file rtt_action_server.h.

Constructor & Destructor Documentation

template<class ActionSpec >

rtt_actionlib::RTTActionServer< ActionSpec >::RTTActionServer	(	const double	status_period = `0.200`,
		const int	sched = `ORO_SCHED_OTHER`
	)

Constructor.

Definition at line 131 of file rtt_action_server.h.

template<class ActionSpec >

rtt_actionlib::RTTActionServer< ActionSpec >::RTTActionServer	(	const std::string	name,
		const double	status_period = `0.200`,
		const int	sched = `ORO_SCHED_OTHER`
	)

Definition at line 140 of file rtt_action_server.h.

template<class ActionSpec >

rtt_actionlib::RTTActionServer< ActionSpec >::~RTTActionServer ( )

virtual

Definition at line 150 of file rtt_action_server.h.

Member Function Documentation

template<class ActionSpec>

rtt_actionlib::RTTActionServer< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

template<class ActionSpec >

bool rtt_actionlib::RTTActionServer< ActionSpec >::addPorts	(	RTT::Service::shared_ptr	service,
		const bool	create_topics = `false`,
		const std::string &	topic_namespace = `""`
	)

Add actionlib ports to a given rtt service.

Definition at line 181 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::cancelCallback ( RTT::base::PortInterface * port )

private

Definition at line 247 of file rtt_action_server.h.

template<class ActionSpec>

const std::string rtt_actionlib::RTTActionServer< ActionSpec >::getName ( ) const

inline

Get the name.

Definition at line 63 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::goalCallback ( RTT::base::PortInterface * port )

private

Definition at line 227 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::goalCallbackWrapper ( GoalHandle gh )

private

Definition at line 239 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::initialize ( )

virtual

Set up status publishing timers.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 156 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::publishFeedback	(	const actionlib_msgs::GoalStatus &	status,
		const Feedback &	feedback
	)

virtual

Publishes feedback for a given goal.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 282 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::publishResult	(	const actionlib_msgs::GoalStatus &	status,
		const Result &	result
	)

virtual

Publishes a result for a given goal.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 259 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::publishStatus ( )

virtual

Explicitly publish status.

Implements actionlib::ActionServerBase< ActionSpec >.

Definition at line 303 of file rtt_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTActionServer< ActionSpec >::ready ( void )

Check if the server is ready to be started.

Definition at line 169 of file rtt_action_server.h.

template<class ActionSpec>

void rtt_actionlib::RTTActionServer< ActionSpec >::registerCancelOperation ( RTT::OperationInterfacePart * operation )

inline

Definition at line 93 of file rtt_action_server.h.

template<class ActionSpec>

void rtt_actionlib::RTTActionServer< ActionSpec >::registerGoalOperation ( RTT::OperationInterfacePart * operation )

inline

Definition at line 88 of file rtt_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTActionServer< ActionSpec >::shutdown ( )

Shutdown internal timer.

Definition at line 175 of file rtt_action_server.h.

Member Data Documentation

template<class ActionSpec>

rtt_actionlib::ActionBridge rtt_actionlib::RTTActionServer< ActionSpec >::action_bridge_

private

Action bridge container for RTT ports corresponding to the action interface.

Definition at line 121 of file rtt_action_server.h.

template<class ActionSpec>

RTT::OperationCaller<void(GoalHandle)> rtt_actionlib::RTTActionServer< ActionSpec >::cancel_operation_

private

Definition at line 127 of file rtt_action_server.h.

template<class ActionSpec>

RTT::OperationCaller<void(GoalHandle)> rtt_actionlib::RTTActionServer< ActionSpec >::goal_operation_

private

Definition at line 126 of file rtt_action_server.h.

template<class ActionSpec>

std::string rtt_actionlib::RTTActionServer< ActionSpec >::name_

private

Server name (used for naming timers and other resources)

Definition at line 115 of file rtt_action_server.h.

template<class ActionSpec>

double rtt_actionlib::RTTActionServer< ActionSpec >::status_period_

private

Period (Hz) at which the status should be published.

Definition at line 118 of file rtt_action_server.h.

template<class ActionSpec>

RTTActionServerStatusTimer<ActionSpec> rtt_actionlib::RTTActionServer< ActionSpec >::status_timer_

private

RTT Timer for periodic status updates.

Definition at line 124 of file rtt_action_server.h.

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

rtt_action_server.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class ActionSpec> class rtt_actionlib::RTTActionServer< ActionSpec >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ActionSpec>
class rtt_actionlib::RTTActionServer< ActionSpec >