The SimpleActionServer implements a singe goal policy on top of the ActionServer class. More...
Public Member Functions | |
def | __del__ |
def | __init__ |
Constructor for a SimpleActionServer. | |
def | accept_new_goal |
Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted. | |
def | executeLoop |
Called from a separate thread to call blocking execute calls. | |
def | get_default_result |
def | internal_goal_callback |
Callback for when the ActionServer receives a new goal and passes it on. | |
def | internal_preempt_callback |
Callback for when the ActionServer receives a new preempt and passes it on. | |
def | is_active |
Allows polling implementations to query about the status of the current goal. | |
def | is_new_goal_available |
Allows polling implementations to query about the availability of a new goal. | |
def | is_preempt_requested |
Allows polling implementations to query about preempt requests. | |
def | publish_feedback |
Publishes feedback for a given goal. | |
def | register_goal_callback |
Allows users to register a callback to be invoked when a new goal is available. | |
def | register_preempt_callback |
Allows users to register a callback to be invoked when a new preempt request is available. | |
def | set_aborted |
Sets the status of the active goal to aborted. | |
def | set_preempted |
Sets the status of the active goal to preempted. | |
def | set_succeeded |
Sets the status of the active goal to succeeded. | |
def | start |
Explicitly start the action server, used it auto_start is set to false. | |
Public Attributes | |
action_server | |
current_goal | |
execute_callback | |
execute_condition | |
execute_thread | |
goal_callback | |
lock | |
need_to_terminate | |
new_goal | |
new_goal_preempt_request | |
next_goal | |
preempt_callback | |
preempt_request | |
terminate_mutex |
The SimpleActionServer implements a singe goal policy on top of the ActionServer class.
The specification of the policy is as follows: only one goal can have an active status at a time, new goals preempt previous goals based on the stamp in their GoalID field (later goals preempt earlier ones), an explicit preempt goal preempts all goals with timestamps that are less than or equal to the stamp associated with the preempt, accepting a new goal implies successful preemption of any old goal and the status of the old goal will be change automatically to reflect this.
Definition at line 56 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.__init__ | ( | self, | |
name, | |||
ActionSpec, | |||
execute_cb = None , |
|||
auto_start = True |
|||
) |
Constructor for a SimpleActionServer.
name | A name for the action server |
execute_cb | Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback. |
auto_start | A boolean value that tells the ActionServer wheteher or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server. |
Definition at line 63 of file simple_action_server.py.
Definition at line 97 of file simple_action_server.py.
Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted.
Preempts received for the new goal between checking if isNewGoalAvailable or invokation of a goal callback and the acceptNewGoal call will not trigger a preempt callback. This means, isPreemptReqauested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request.
Definition at line 115 of file simple_action_server.py.
Called from a separate thread to call blocking execute calls.
Definition at line 273 of file simple_action_server.py.
Definition at line 183 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.internal_goal_callback | ( | self, | |
goal | |||
) |
Callback for when the ActionServer receives a new goal and passes it on.
Definition at line 215 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.internal_preempt_callback | ( | self, | |
preempt | |||
) |
Callback for when the ActionServer receives a new preempt and passes it on.
Definition at line 255 of file simple_action_server.py.
Allows polling implementations to query about the status of the current goal.
Definition at line 154 of file simple_action_server.py.
Allows polling implementations to query about the availability of a new goal.
Definition at line 143 of file simple_action_server.py.
Allows polling implementations to query about preempt requests.
Definition at line 149 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.publish_feedback | ( | self, | |
feedback | |||
) |
Publishes feedback for a given goal.
feedback | Shared pointer to the feedback to publish |
Definition at line 179 of file simple_action_server.py.
Allows users to register a callback to be invoked when a new goal is available.
cb | The callback to be invoked |
Definition at line 197 of file simple_action_server.py.
Allows users to register a callback to be invoked when a new preempt request is available.
cb | The callback to be invoked |
Definition at line 205 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.set_aborted | ( | self, | |
result = None , |
|||
text = "" |
|||
) |
Sets the status of the active goal to aborted.
result | An optional result to send back to any clients of the goal |
Definition at line 171 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.set_preempted | ( | self, | |
result = None , |
|||
text = "" |
|||
) |
Sets the status of the active goal to preempted.
result | An optional result to send back to any clients of the goal |
Definition at line 188 of file simple_action_server.py.
def actionlib.simple_action_server.SimpleActionServer.set_succeeded | ( | self, | |
result = None , |
|||
text = "" |
|||
) |
Sets the status of the active goal to succeeded.
result | An optional result to send back to any clients of the goal |
Definition at line 163 of file simple_action_server.py.
Explicitly start the action server, used it auto_start is set to false.
Definition at line 210 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Reimplemented in mock_simple_server.RefSimpleServer.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.
Definition at line 63 of file simple_action_server.py.