.. _program_listing_file__tmp_ws_src_simple_actions_include_simple_actions_simple_server.hpp:

Program Listing for File simple_server.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_simple_actions_include_simple_actions_simple_server.hpp>` (``/tmp/ws/src/simple_actions/include/simple_actions/simple_server.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: David V. Lu!! */
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp_action/rclcpp_action.hpp>
   #include <simple_actions/utilities.hpp>
   
   namespace simple_actions
   {
   template <typename ACTION_TYPE>
   class SimpleActionServer
   {
   public:
     using ExecuteCallback = std::function<bool(const typename ACTION_TYPE::Goal&, typename ACTION_TYPE::Result&)>;
   
     SimpleActionServer(rclcpp::Node::SharedPtr node, const std::string& action_namespace, ExecuteCallback execute_cb)
       : node_(node), LOGGER(node_->get_logger().get_child(action_namespace))
     {
       using namespace std::placeholders;
       info_string_ = action_namespace + "/" + getName<ACTION_TYPE>();
       execute_cb_ = execute_cb;
       server_ = rclcpp_action::create_server<ACTION_TYPE>(node_, action_namespace,
                                                           std::bind(&SimpleActionServer::handleGoal, this, _1, _2),
                                                           std::bind(&SimpleActionServer::handleCancel, this, _1),
                                                           std::bind(&SimpleActionServer::handleAccepted, this, _1));
       RCLCPP_DEBUG(LOGGER, "%s initialized", info_string_.c_str());
     }
   
     void publishFeedback(typename ACTION_TYPE::Feedback::SharedPtr feedback)
     {
       goal_handle_->publish_feedback(feedback);
       RCLCPP_DEBUG(LOGGER, "%s published feedback", info_string_.c_str());
     }
   
     bool isActive() const
     {
       return goal_handle_->is_active();
     }
   
     bool isCanceling() const
     {
       return goal_handle_->is_canceling();
     }
   
     bool isExecuting() const
     {
       return goal_handle_->is_executing();
     }
   
   protected:
     using GoalHandle = std::shared_ptr<rclcpp_action::ServerGoalHandle<ACTION_TYPE>>;
   
     rclcpp_action::GoalResponse handleGoal(const rclcpp_action::GoalUUID&,
                                            std::shared_ptr<const typename ACTION_TYPE::Goal>)
     {
       RCLCPP_DEBUG(LOGGER, "%s got a goal request", info_string_.c_str());
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
     }
   
     rclcpp_action::CancelResponse handleCancel(const GoalHandle)
     {
       RCLCPP_DEBUG(LOGGER, "%s got a cancel request", info_string_.c_str());
       return rclcpp_action::CancelResponse::ACCEPT;
     }
   
     void handleAccepted(const GoalHandle goal_handle)
     {
       RCLCPP_DEBUG(LOGGER, "%s is starting an execution thread", info_string_.c_str());
       // this needs to return quickly to avoid blocking the executor, so spin up a new thread
       std::thread{std::bind(&SimpleActionServer::execute, this, std::placeholders::_1), goal_handle}.detach();
     }
   
     void execute(GoalHandle goal_handle)
     {
       RCLCPP_DEBUG(LOGGER, "%s is beginning execution", info_string_.c_str());
       goal_handle_ = goal_handle;
       const auto goal = goal_handle->get_goal();
       auto result = std::make_shared<typename ACTION_TYPE::Result>();
   
       bool success;
       try
       {
         success = execute_cb_(*goal, *result);
       }
       catch (const std::exception& ex)
       {
         success = false;
         RCLCPP_ERROR(LOGGER, "An uncaught exception has occurred while trying to execute the action %s: %s",
                      info_string_.c_str(), ex.what());
       }
   
       if (success)
       {
         goal_handle->succeed(result);
       }
       else if (goal_handle_->is_canceling())
       {
         goal_handle->canceled(result);
       }
       else
       {
         goal_handle->abort(result);
       }
       RCLCPP_DEBUG(LOGGER, "%s has finished execution", info_string_.c_str());
     }
   
     typename rclcpp_action::Server<ACTION_TYPE>::SharedPtr server_;
   
     GoalHandle goal_handle_;
     ExecuteCallback execute_cb_;
   
     rclcpp::Node::SharedPtr node_;
     rclcpp::Logger LOGGER;
     std::string info_string_;
   };
   }  // namespace simple_actions