IRI ROS Action Server. More...
#include <iri_action_server.h>
Public Types | |
| typedef boost::shared_ptr < Feedback > | FeedbackPtr |
| Result Pointer type definition. | |
| typedef boost::shared_ptr< Result > | ResultPtr |
| Result Pointer type definition. | |
Public Member Functions | |
| ACTION_DEFINITION (ActionSpec) | |
| Action definitions macro. | |
| IriActionServer (ros::NodeHandle &nh, const std::string &action_name) | |
| Constructor. | |
| bool | isActive (void) |
| Action is Active. | |
| bool | isStarted (void) const |
| Server has been started? | |
| void | registerGetFeedbackCallback (boost::function< void(FeedbackPtr &)> cb) |
| Register Get Feedback Callback. | |
| void | registerGetResultCallback (boost::function< void(ResultPtr &)> cb) |
| Register Get Result Callback. | |
| void | registerHasSucceedCallback (boost::function< bool()> cb) |
| Register Has Succeed Callback. | |
| void | registerIsFinishedCallback (boost::function< bool()> cb) |
| Register Is Finished Callback. | |
| void | registerStartCallback (boost::function< void(const GoalConstPtr &)> cb) |
| Register Start Callback. | |
| void | registerStopCallback (boost::function< void()> cb) |
| Register Stop Callback. | |
| void | setAborted (const Result &result=Result(), const std::string &text=std::string("")) |
| Abort Action. | |
| void | setLoopRate (ros::Rate r) |
| Set Loop Rate. | |
| void | setPreempted (const Result &result=Result(), const std::string &text=std::string("")) |
| Preempt Action. | |
| void | shutdown (void) |
| Stop Action. | |
| void | start (void) |
| Start Action. | |
| ~IriActionServer (void) | |
| Destructor. | |
Private Member Functions | |
| void | executeCallback (const GoalConstPtr &goal) |
| Execute Callback. | |
Private Attributes | |
| std::string | action_name_ |
| Action Name. | |
| actionlib::SimpleActionServer < ActionSpec > | as_ |
| Simple Action Server. | |
| boost::function< void(FeedbackPtr &)> | get_feedback_callback_ |
| Get Feedback Callback object. | |
| boost::function< void(ResultPtr &)> | get_result_callback_ |
| Get Result Callback object. | |
| boost::function< bool()> | has_succeed_callback_ |
| Has Succeed Callback object. | |
| boost::function< bool()> | is_finished_callback_ |
| Is Finished Callback object. | |
| bool | is_started |
| Is Started. | |
| ros::Rate | loop_rate_ |
| Loop Rate. | |
| boost::function< void(const GoalConstPtr &)> | start_action_callback_ |
| Start Callback object. | |
| boost::function< void()> | stop_action_callback_ |
| Stop Callback object. | |
IRI ROS Action Server.
This class is a wrapper for the ROS Simple Action Server, thus their policies are adquired. The action server logic for receiving new goals, controlling client preemption and dealing with goal status has been implemented on top of the simple action server. Instead of working straight with the provided execute callback, this class defines additional callbacks to the user with a more reduced scope. By using this class, the final user just needs to worry about executing and cancelling the action and filling up feedback and result messages.
This is a template class, where ActionSpec must be a class generated from an action message. Goal, Result and Feedback objects are assumed to exist.
Definition at line 48 of file iri_action_server.h.
| typedef boost::shared_ptr<Feedback> IriActionServer< ActionSpec >::FeedbackPtr |
Result Pointer type definition.
Additional definition for non-constant feedback pointers
Definition at line 71 of file iri_action_server.h.
| typedef boost::shared_ptr<Result> IriActionServer< ActionSpec >::ResultPtr |
Result Pointer type definition.
Additional definition for non-constant result pointers
Definition at line 64 of file iri_action_server.h.
| IriActionServer< ActionSpec >::IriActionServer | ( | ros::NodeHandle & | nh, |
| const std::string & | action_name | ||
| ) |
Constructor.
This constructor mainly initializes the ROS simple action server object, as well as the action name and the execute loop rate frequency.
| nh | a reference to the node handle object to manage all ROS topics. |
| action_name | name of the action |
Definition at line 329 of file iri_action_server.h.
| IriActionServer< ActionSpec >::~IriActionServer | ( | void | ) |
Destructor.
This destructor is called when the object is about to be destroyed.
Definition at line 339 of file iri_action_server.h.
| IriActionServer< ActionSpec >::ACTION_DEFINITION | ( | ActionSpec | ) |
Action definitions macro.
This ROS defined macro includes convenient type definitions for Goal, Result and Feedback classes to ease developement.
| void IriActionServer< ActionSpec >::executeCallback | ( | const GoalConstPtr & | goal | ) | [private] |
Execute Callback.
This is the ROS simple action server execute callback which is called in a separate thread whenever a new goal is received. This function implements the IRI action server logic on top of the ROS simple action server policy.
This function controls the life-cycle of a single goal, since it is received until achieves a terminal state. User callbacks are triggered to monitor the goal state during the action execution.
| GoalConstPtr | a const pointer to the received action goal |
Definition at line 407 of file iri_action_server.h.
| bool IriActionServer< ActionSpec >::isActive | ( | void | ) |
Action is Active.
Allows polling implementations to query about the status of the current goal
Definition at line 401 of file iri_action_server.h.
| bool IriActionServer< ActionSpec >::isStarted | ( | void | ) | const |
Server has been started?
This function returns true if start() has been previously called.
Definition at line 376 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::registerGetFeedbackCallback | ( | boost::function< void(FeedbackPtr &)> | cb | ) |
Register Get Feedback Callback.
This method let's the user register the get feedback callback method
| cb | user callback function with input parameter FeedbackPtr |
Definition at line 514 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::registerGetResultCallback | ( | boost::function< void(ResultPtr &)> | cb | ) |
Register Get Result Callback.
This method let's the user register the get result callback method
| cb | user callback function with input parameter ResultPtr |
Definition at line 508 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::registerHasSucceedCallback | ( | boost::function< bool()> | cb | ) |
Register Has Succeed Callback.
This method let's the user register the has succeed callback method
| cb | user callback function with no input parameters, returns boolean |
Definition at line 502 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::registerIsFinishedCallback | ( | boost::function< bool()> | cb | ) |
Register Is Finished Callback.
This method let's the user register the is finished callback method
| cb | user callback function with no input parameters, returns boolean |
Definition at line 496 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::registerStartCallback | ( | boost::function< void(const GoalConstPtr &)> | cb | ) |
Register Start Callback.
This method let's the user register the start callback method
| cb | user callback function with input parameter GoalConstPtr |
Definition at line 484 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::registerStopCallback | ( | boost::function< void()> | cb | ) |
Register Stop Callback.
This method let's the user register the stop callback method
| cb | user callback function with no input parameters |
Definition at line 490 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::setAborted | ( | const Result & | result = Result(), |
| const std::string & | text = std::string("") |
||
| ) |
Abort Action.
Calls the ROS simple action server to abort current action
| result | An optional result to send back to any clients of the goal |
| text | An optional text message to send back to any clients of the goal |
Definition at line 389 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::setLoopRate | ( | ros::Rate | r | ) |
Set Loop Rate.
This function sets the loop rate for the execute callback
Definition at line 349 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::setPreempted | ( | const Result & | result = Result(), |
| const std::string & | text = std::string("") |
||
| ) |
Preempt Action.
Calls the ROS simple action server to preempt current action
| result | An optional result to send back to any clients of the goal |
| text | An optional text message to send back to any clients of the goal |
Definition at line 395 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::shutdown | ( | void | ) |
Stop Action.
Calls the ROS simple action server to shutdown the current action
Definition at line 382 of file iri_action_server.h.
| void IriActionServer< ActionSpec >::start | ( | void | ) |
Start Action.
This function checks whether all user callbacks have been registered and then starts the simple action server.
Definition at line 355 of file iri_action_server.h.
std::string IriActionServer< ActionSpec >::action_name_ [private] |
Action Name.
This string stores the action name used to request actions.
Definition at line 167 of file iri_action_server.h.
actionlib::SimpleActionServer<ActionSpec> IriActionServer< ActionSpec >::as_ [private] |
Simple Action Server.
The ROS simple action server is used to handle action requests. For complete information on its behaviour please refer to: http://www.ros.org/wiki/actionlib/DetailedDescription
Definition at line 176 of file iri_action_server.h.
boost::function<void (FeedbackPtr&)> IriActionServer< ActionSpec >::get_feedback_callback_ [private] |
Get Feedback Callback object.
Boost function object to bind user callback. The get result callback is called on each iteration of the simple action server execute callback while the action is active. User must fill up the feedback object to leave it ready to be published.
The user defined function must receive a FeedbackPtr and return void.
Definition at line 145 of file iri_action_server.h.
boost::function<void (ResultPtr&)> IriActionServer< ActionSpec >::get_result_callback_ [private] |
Get Result Callback object.
Boost function object to bind user callback. The get result callback is called from the simple action server execute callback when the action has finished. User must fill up the result object with the convenient data depending on wether the action accomplished its goal or was aborted.
The user defined function must receive a ResultPtr and return void.
Definition at line 133 of file iri_action_server.h.
boost::function<bool ()> IriActionServer< ActionSpec >::has_succeed_callback_ [private] |
Has Succeed Callback object.
Boost function object to bind user callback. The has succeeded callback is called from the simple action server execute callback when the action has finished.
The user defined function takes no parameters and returns a boolean indicating if the action successfully accomplished its goal (true) or if it was aborted (false).
Definition at line 121 of file iri_action_server.h.
boost::function<bool ()> IriActionServer< ActionSpec >::is_finished_callback_ [private] |
Is Finished Callback object.
Boost function object to bind user callback. The is finished callback is called from the simple action server execute callback to check whether the action has been finished or not. An action can finish either because it accomplished its goal or because it has been aborted.
The user defined function takes no parameters and returns a boolean indicating if the action is finished or not.
Definition at line 108 of file iri_action_server.h.
bool IriActionServer< ActionSpec >::is_started [private] |
Is Started.
This variable is set to true when start() is called and to false when calling shutdown().
Definition at line 192 of file iri_action_server.h.
ros::Rate IriActionServer< ActionSpec >::loop_rate_ [private] |
Loop Rate.
This object controls the frequency of the execution callback loop. The value can be updated by calling the member method setLoopRate.
Definition at line 184 of file iri_action_server.h.
boost::function<void (const GoalConstPtr&)> IriActionServer< ActionSpec >::start_action_callback_ [private] |
Start Callback object.
Boost function object to bind user callback. The start callback is called once at the beginning of the simple action server execute callback. User may use the Goal object to start the action within this callback.
The user defined function must receive a GoalConstPtr and return void.
Definition at line 84 of file iri_action_server.h.
boost::function<void ()> IriActionServer< ActionSpec >::stop_action_callback_ [private] |
Stop Callback object.
Boost function object to bind user callback. The stop callback is called whenever the client requests a preempt or the action fails for some other reason. User may stop the action and get ready to receieve another goal.
The user defined function takes no parameters and returns void.
Definition at line 95 of file iri_action_server.h.