client_helpers.h

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#ifndef ACTIONLIB__CLIENT__CLIENT_HELPERS_H_
#define ACTIONLIB__CLIENT__CLIENT_HELPERS_H_

#include <boost/thread/recursive_mutex.hpp>
#include <boost/interprocess/sync/scoped_lock.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <vector>


#include "actionlib/action_definition.h"

#include "actionlib/managed_list.h"
#include "actionlib/enclosure_deleter.h"
#include "actionlib/goal_id_generator.h"

#include "actionlib/client/comm_state.h"
#include "actionlib/client/terminal_state.h"

#include "actionlib/destruction_guard.h"

// msgs
#include "actionlib_msgs/GoalID.h"
#include "actionlib_msgs/GoalStatusArray.h"

namespace actionlib
{

template<class ActionSpec>
class ClientGoalHandle;

template<class ActionSpec>
class CommStateMachine;

template<class ActionSpec>
class GoalManager
{
public:
  ACTION_DEFINITION(ActionSpec);
  typedef GoalManager<ActionSpec> GoalManagerT;
  typedef ClientGoalHandle<ActionSpec> GoalHandleT;
  typedef boost::function<void (GoalHandleT)> TransitionCallback;
  typedef boost::function<void (GoalHandleT, const FeedbackConstPtr &)> FeedbackCallback;
  typedef boost::function<void (const ActionGoalConstPtr)> SendGoalFunc;
  typedef boost::function<void (const actionlib_msgs::GoalID &)> CancelFunc;

  GoalManager(const boost::shared_ptr<DestructionGuard> & guard)
  : guard_(guard) {}

  void registerSendGoalFunc(SendGoalFunc send_goal_func);
  void registerCancelFunc(CancelFunc cancel_func);

  GoalHandleT initGoal(const Goal & goal,
    TransitionCallback transition_cb = TransitionCallback(),
    FeedbackCallback feedback_cb = FeedbackCallback() );

  void updateStatuses(const actionlib_msgs::GoalStatusArrayConstPtr & status_array);
  void updateFeedbacks(const ActionFeedbackConstPtr & action_feedback);
  void updateResults(const ActionResultConstPtr & action_result);

  friend class ClientGoalHandle<ActionSpec>;

  // should be private
  typedef ManagedList<boost::shared_ptr<CommStateMachine<ActionSpec> > > ManagedListT;
  ManagedListT list_;

private:
  SendGoalFunc send_goal_func_;
  CancelFunc cancel_func_;

  boost::shared_ptr<DestructionGuard> guard_;

  boost::recursive_mutex list_mutex_;

  GoalIDGenerator id_generator_;

  void listElemDeleter(typename ManagedListT::iterator it);
};

template<class ActionSpec>
class ClientGoalHandle
{
private:
  ACTION_DEFINITION(ActionSpec);

public:
  ClientGoalHandle();

  ~ClientGoalHandle();

  void reset();

  inline bool isExpired() const;

  CommState getCommState() const;

  TerminalState getTerminalState() const;

  ResultConstPtr getResult() const;

  void resend();

  void cancel();

  bool operator==(const ClientGoalHandle<ActionSpec> & rhs) const;

  bool operator!=(const ClientGoalHandle<ActionSpec> & rhs) const;

  friend class GoalManager<ActionSpec>;

private:
  typedef GoalManager<ActionSpec> GoalManagerT;
  typedef ManagedList<boost::shared_ptr<CommStateMachine<ActionSpec> > > ManagedListT;

  ClientGoalHandle(GoalManagerT * gm, typename ManagedListT::Handle handle,
    const boost::shared_ptr<DestructionGuard> & guard);

  GoalManagerT * gm_;
  bool active_;
  // typename ManagedListT::iterator it_;
  boost::shared_ptr<DestructionGuard> guard_;  // Guard must still exist when the list_handle_ is destroyed
  typename ManagedListT::Handle list_handle_;
};

template<class ActionSpec>
class CommStateMachine
{
private:
  // generates typedefs that we'll use to make our lives easier
  ACTION_DEFINITION(ActionSpec);

public:
  typedef boost::function<void (const ClientGoalHandle<ActionSpec> &)> TransitionCallback;
  typedef boost::function<void (const ClientGoalHandle<ActionSpec> &,
    const FeedbackConstPtr &)> FeedbackCallback;
  typedef ClientGoalHandle<ActionSpec> GoalHandleT;

  CommStateMachine(const ActionGoalConstPtr & action_goal,
    TransitionCallback transition_cb,
    FeedbackCallback feedback_cb);

  ActionGoalConstPtr getActionGoal() const;
  CommState getCommState() const;
  actionlib_msgs::GoalStatus getGoalStatus() const;
  ResultConstPtr getResult() const;

  // Transitions caused by messages
  void updateStatus(GoalHandleT & gh, const actionlib_msgs::GoalStatusArrayConstPtr & status_array);
  void updateFeedback(GoalHandleT & gh, const ActionFeedbackConstPtr & action_feedback);
  void updateResult(GoalHandleT & gh, const ActionResultConstPtr & action_result);

  // Forced transitions
  void transitionToState(GoalHandleT & gh, const CommState::StateEnum & next_state);
  void transitionToState(GoalHandleT & gh, const CommState & next_state);
  void processLost(GoalHandleT & gh);

private:
  CommStateMachine();

  // State
  CommState state_;
  ActionGoalConstPtr action_goal_;
  actionlib_msgs::GoalStatus latest_goal_status_;
  ActionResultConstPtr latest_result_;

  // Callbacks
  TransitionCallback transition_cb_;
  FeedbackCallback feedback_cb_;

  // **** Implementation ****
  void setCommState(const CommState & state);
  void setCommState(const CommState::StateEnum & state);
  const actionlib_msgs::GoalStatus * findGoalStatus(
    const std::vector<actionlib_msgs::GoalStatus> & status_vec) const;
};

}  // namespace actionlib

#include "actionlib/client/goal_manager_imp.h"
#include "actionlib/client/client_goal_handle_imp.h"
#include "actionlib/client/comm_state_machine_imp.h"

#endif  // ACTIONLIB__CLIENT__CLIENT_HELPERS_H_