00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <ros/ros.h> 00036 #include <actionlib/goal_id_generator.h> 00037 #include <boost/thread/mutex.hpp> 00038 00039 using namespace actionlib; 00040 00041 static boost::mutex s_goalcount_mutex_; 00042 static unsigned int s_goalcount_ = 0; 00043 00044 GoalIDGenerator::GoalIDGenerator() 00045 { 00046 setName(ros::this_node::getName()); 00047 } 00048 00049 GoalIDGenerator::GoalIDGenerator(const std::string& name) 00050 { 00051 setName(name); 00052 } 00053 00054 void GoalIDGenerator::setName(const std::string& name) 00055 { 00056 name_ = name; 00057 } 00058 00059 actionlib_msgs::GoalID GoalIDGenerator::generateID() 00060 { 00061 actionlib_msgs::GoalID id; 00062 ros::Time cur_time = ros::Time::now(); 00063 std::stringstream ss; 00064 00065 ss << name_ << "-"; 00066 00067 { 00068 boost::mutex::scoped_lock lock(s_goalcount_mutex_); 00069 s_goalcount_++; 00070 ss << s_goalcount_ << "-"; 00071 } 00072 00073 ss << cur_time.sec << "." << cur_time.nsec; 00074 id.id = ss.str(); 00075 id.stamp = cur_time; 00076 return id; 00077 }