simple_action_server.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB__SERVER__SIMPLE_ACTION_SERVER_H_
#define ACTIONLIB__SERVER__SIMPLE_ACTION_SERVER_H_

#include <boost/thread/condition.hpp>
#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <actionlib/action_definition.h>

#include <string>

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

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

  SimpleActionServer(std::string name, ExecuteCallback execute_callback, bool auto_start);

  SimpleActionServer(std::string name, bool auto_start);

  ROS_DEPRECATED SimpleActionServer(std::string name, ExecuteCallback execute_callback = NULL);

  SimpleActionServer(ros::NodeHandle n, std::string name, ExecuteCallback execute_callback,
    bool auto_start);

  SimpleActionServer(ros::NodeHandle n, std::string name, bool auto_start);

  ROS_DEPRECATED SimpleActionServer(ros::NodeHandle n, std::string name,
    ExecuteCallback execute_callback = NULL);

  ~SimpleActionServer();

  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 publishFeedback(const FeedbackConstPtr & feedback);

  void publishFeedback(const Feedback & feedback);

  void setPreempted(const Result & result = Result(), const std::string & text = std::string(""));

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

  void registerPreemptCallback(boost::function<void()> cb);

  void start();

  void shutdown();

private:
  void goalCallback(GoalHandle goal);

  void preemptCallback(GoalHandle preempt);

  void executeLoop();

  ros::NodeHandle n_;

  boost::shared_ptr<ActionServer<ActionSpec> > as_;

  GoalHandle current_goal_, next_goal_;

  bool new_goal_, preempt_request_, new_goal_preempt_request_;

  boost::recursive_mutex lock_;

  boost::function<void()> goal_callback_;
  boost::function<void()> preempt_callback_;
  ExecuteCallback execute_callback_;

  boost::condition execute_condition_;
  boost::thread * execute_thread_;

  boost::mutex terminate_mutex_;
  bool need_to_terminate_;
};

}  // namespace actionlib

// include the implementation here
#include <actionlib/server/simple_action_server_imp.h>
#endif  // ACTIONLIB__SERVER__SIMPLE_ACTION_SERVER_H_