simple_action_server.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_SIMPLE_ACTION_SERVER_H_
00038 #define ACTIONLIB_SIMPLE_ACTION_SERVER_H_
00039 
00040 #include <boost/thread/condition.hpp>
00041 #include <ros/ros.h>
00042 #include <actionlib/server/action_server.h>
00043 #include <actionlib/action_definition.h>
00044 
00045 namespace actionlib {
00056   template <class ActionSpec>
00057   class SimpleActionServer {
00058     public:
00059       //generates typedefs that we'll use to make our lives easier
00060       ACTION_DEFINITION(ActionSpec);
00061 
00062       typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
00063       typedef boost::function<void (const GoalConstPtr&)> ExecuteCallback;
00064 
00073       SimpleActionServer(std::string name, ExecuteCallback execute_cb, bool auto_start);
00074 
00080       SimpleActionServer(std::string name, bool auto_start);
00081 
00089       ROS_DEPRECATED SimpleActionServer(std::string name, ExecuteCallback execute_cb = NULL);
00090 
00100       SimpleActionServer(ros::NodeHandle n, std::string name, ExecuteCallback execute_cb, bool auto_start);
00101 
00108       SimpleActionServer(ros::NodeHandle n, std::string name, bool auto_start);
00109 
00118       ROS_DEPRECATED SimpleActionServer(ros::NodeHandle n, std::string name, ExecuteCallback execute_cb = NULL);
00119 
00120       ~SimpleActionServer();
00121 
00133       boost::shared_ptr<const Goal> acceptNewGoal();
00134 
00139       bool isNewGoalAvailable();
00140 
00141 
00146       bool isPreemptRequested();
00147 
00152       bool isActive();
00153 
00159       void setSucceeded(const Result& result = Result(), const std::string& text = std::string(""));
00160 
00166       void setAborted(const Result& result = Result(), const std::string& text = std::string(""));
00167 
00168 
00173       void publishFeedback(const FeedbackConstPtr& feedback);
00174 
00179       void publishFeedback(const Feedback& feedback);
00180 
00186       void setPreempted(const Result& result = Result(), const std::string& text = std::string(""));
00187 
00192       void registerGoalCallback(boost::function<void ()> cb);
00193 
00198       void registerPreemptCallback(boost::function<void ()> cb);
00199 
00203       void start();
00204 
00208       void shutdown();
00209 
00210     private:
00214       void goalCallback(GoalHandle goal);
00215 
00219       void preemptCallback(GoalHandle preempt);
00220 
00224       void executeLoop();
00225 
00226       ros::NodeHandle n_;
00227 
00228       boost::shared_ptr<ActionServer<ActionSpec> > as_;
00229 
00230       GoalHandle current_goal_, next_goal_;
00231 
00232       bool new_goal_, preempt_request_, new_goal_preempt_request_;
00233 
00234       boost::recursive_mutex lock_;
00235 
00236       boost::function<void ()> goal_callback_;
00237       boost::function<void ()> preempt_callback_;
00238       ExecuteCallback execute_callback_;
00239 
00240       boost::condition execute_condition_;
00241       boost::thread* execute_thread_;
00242 
00243       boost::mutex terminate_mutex_;
00244       bool need_to_terminate_;
00245   };
00246 };
00247 
00248 //include the implementation here
00249 #include <actionlib/server/simple_action_server_imp.h>
00250 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49