#include <queued_action_server.h>

Public Types
using	ExecuteCallback = ensenso::std::function< void(GoalConstPtr const &)>

using	GoalHandle = typename actionlib::ActionServer< ActionSpec >::GoalHandle

Public Member Functions
bool	isPreemptRequested ()

void	publishFeedback (Feedback const &feedback)

void	publishFeedback (FeedbackConstPtr const &feedback)

	QueuedActionServer (ensenso::ros::NodeHandle &nh, std::string const &name, ExecuteCallback callback, bool autoStart=false)

void	setAborted (Result result=Result())

void	setPreempted (Result result=Result())

void	setSucceeded (Result result=Result())

void	start ()

	~QueuedActionServer ()

Private Member Functions
std::string	getLoggerName ()

void	loop ()

void	onCancelReceived (GoalHandle goal)

void	onGoalReceived (GoalHandle goal)

void	shutdown ()

Private Attributes
std::unique_ptr< actionlib::ActionServer< ActionSpec > >	actionServer

ExecuteCallback	callback

GoalHandle	currentGoal

std::queue< GoalHandle >	goalQueue

std::condition_variable	loopCondition

std::thread	loopThread

std::mutex	mutex

std::string	name

ensenso::ros::NodeHandle	nh

bool	preemptRequested = false

volatile bool	shutdownRequested = false

Detailed Description

template<class ActionSpec>
class QueuedActionServer< ActionSpec >

An action server that remembers a queue of goals that still have to be processed. This server will never reject or cancel any requests on its own.

The API is the same as for the SimpleActionServer.

Definition at line 26 of file queued_action_server.h.

Member Typedef Documentation

◆ ExecuteCallback

template<class ActionSpec >

using QueuedActionServer< ActionSpec >::ExecuteCallback = ensenso::std::function<void(GoalConstPtr const&)>

Definition at line 32 of file queued_action_server.h.

◆ GoalHandle

template<class ActionSpec >

using QueuedActionServer< ActionSpec >::GoalHandle = typename actionlib::ActionServer<ActionSpec>::GoalHandle

Definition at line 30 of file queued_action_server.h.

Constructor & Destructor Documentation

◆ QueuedActionServer()

template<class ActionSpec >

QueuedActionServer< ActionSpec >::QueuedActionServer	(	ensenso::ros::NodeHandle &	nh,
		std::string const &	name,
		ExecuteCallback	callback,
		bool	autoStart = `false`
	)

inline

Definition at line 35 of file queued_action_server.h.

◆ ~QueuedActionServer()

template<class ActionSpec >

QueuedActionServer< ActionSpec >::~QueuedActionServer ( )

inline

Definition at line 49 of file queued_action_server.h.

Member Function Documentation

◆ getLoggerName()

template<class ActionSpec >

std::string QueuedActionServer< ActionSpec >::getLoggerName ( )

inlineprivate

Definition at line 109 of file queued_action_server.h.

◆ isPreemptRequested()

template<class ActionSpec >

bool QueuedActionServer< ActionSpec >::isPreemptRequested ( )

inline

Definition at line 60 of file queued_action_server.h.

◆ loop()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::loop ( )

inlineprivate

Definition at line 141 of file queued_action_server.h.

◆ onCancelReceived()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::onCancelReceived ( GoalHandle goal )

inlineprivate

Definition at line 123 of file queued_action_server.h.

◆ onGoalReceived()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::onGoalReceived ( GoalHandle goal )

inlineprivate

Definition at line 114 of file queued_action_server.h.

◆ publishFeedback() [1/2]

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::publishFeedback ( Feedback const & feedback )

inline

Definition at line 94 of file queued_action_server.h.

◆ publishFeedback() [2/2]

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::publishFeedback ( FeedbackConstPtr const & feedback )

inline

Definition at line 89 of file queued_action_server.h.

◆ setAborted()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::setAborted ( Result result = Result() )

inline

Definition at line 73 of file queued_action_server.h.

◆ setPreempted()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::setPreempted ( Result result = Result() )

inline

Definition at line 81 of file queued_action_server.h.

◆ setSucceeded()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::setSucceeded ( Result result = Result() )

inline

Definition at line 65 of file queued_action_server.h.

◆ shutdown()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::shutdown ( )

inlineprivate

Definition at line 100 of file queued_action_server.h.

◆ start()

template<class ActionSpec >

void QueuedActionServer< ActionSpec >::start ( )

inline

Definition at line 54 of file queued_action_server.h.

Member Data Documentation

◆ actionServer

template<class ActionSpec >

std::unique_ptr<actionlib::ActionServer<ActionSpec> > QueuedActionServer< ActionSpec >::actionServer

private

Definition at line 193 of file queued_action_server.h.

◆ callback

template<class ActionSpec >

ExecuteCallback QueuedActionServer< ActionSpec >::callback

private

Definition at line 200 of file queued_action_server.h.

◆ currentGoal

template<class ActionSpec >

GoalHandle QueuedActionServer< ActionSpec >::currentGoal

private

Definition at line 202 of file queued_action_server.h.

◆ goalQueue

template<class ActionSpec >

std::queue<GoalHandle> QueuedActionServer< ActionSpec >::goalQueue

private

Definition at line 203 of file queued_action_server.h.

◆ loopCondition

template<class ActionSpec >

std::condition_variable QueuedActionServer< ActionSpec >::loopCondition

private

Definition at line 198 of file queued_action_server.h.

◆ loopThread

template<class ActionSpec >

std::thread QueuedActionServer< ActionSpec >::loopThread

private

Definition at line 195 of file queued_action_server.h.

◆ mutex

template<class ActionSpec >

std::mutex QueuedActionServer< ActionSpec >::mutex

private

Definition at line 197 of file queued_action_server.h.

◆ name

template<class ActionSpec >

std::string QueuedActionServer< ActionSpec >::name

private

Definition at line 192 of file queued_action_server.h.

◆ nh

template<class ActionSpec >

ensenso::ros::NodeHandle QueuedActionServer< ActionSpec >::nh

private

Definition at line 191 of file queued_action_server.h.

◆ preemptRequested

template<class ActionSpec >

bool QueuedActionServer< ActionSpec >::preemptRequested = false

private

Definition at line 206 of file queued_action_server.h.

◆ shutdownRequested

template<class ActionSpec >

volatile bool QueuedActionServer< ActionSpec >::shutdownRequested = false

private

Definition at line 208 of file queued_action_server.h.

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

queued_action_server.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<class ActionSpec> class QueuedActionServer< ActionSpec >

Member Typedef Documentation

◆ ExecuteCallback

◆ GoalHandle

Constructor & Destructor Documentation

◆ QueuedActionServer()

◆ ~QueuedActionServer()

Member Function Documentation

◆ getLoggerName()

◆ isPreemptRequested()

◆ loop()

◆ onCancelReceived()

◆ onGoalReceived()

◆ publishFeedback() [1/2]

◆ publishFeedback() [2/2]

◆ setAborted()

◆ setPreempted()

◆ setSucceeded()

◆ shutdown()

◆ start()

Member Data Documentation

◆ actionServer

◆ callback

◆ currentGoal

◆ goalQueue

◆ loopCondition

◆ loopThread

◆ mutex

◆ name

◆ nh

◆ preemptRequested

◆ shutdownRequested

template<class ActionSpec>
class QueuedActionServer< ActionSpec >