server_goal_handle.h

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

#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/action_definition.h>
#include <actionlib/server/status_tracker.h>
#include <actionlib/destruction_guard.h>
#include <boost/shared_ptr.hpp>

#include <list>
#include <string>

namespace actionlib
{
// forward declaration of ActionServerBase
template<class ActionSpec>
class ActionServerBase;

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

public:
  ServerGoalHandle();

  ServerGoalHandle(const ServerGoalHandle & gh);

  void setAccepted(const std::string & text = std::string(""));

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

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

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

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

  void publishFeedback(const Feedback & feedback);

  bool isValid() const;

  boost::shared_ptr<const Goal> getGoal() const;

  actionlib_msgs::GoalID getGoalID() const;

  actionlib_msgs::GoalStatus getGoalStatus() const;

  ServerGoalHandle & operator=(const ServerGoalHandle & gh);

  bool operator==(const ServerGoalHandle & other) const;

  bool operator!=(const ServerGoalHandle & other) const;

private:
  ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
    ActionServerBase<ActionSpec> * as, boost::shared_ptr<void> handle_tracker,
    boost::shared_ptr<DestructionGuard> guard);

  bool setCancelRequested();

  typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
  boost::shared_ptr<const ActionGoal> goal_;
  ActionServerBase<ActionSpec> * as_;
  boost::shared_ptr<void> handle_tracker_;
  boost::shared_ptr<DestructionGuard> guard_;
  friend class ActionServerBase<ActionSpec>;
};

}  // namespace actionlib

// include the implementation
#include <actionlib/server/server_goal_handle_imp.h>

#endif  // ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_