server_goal_handle.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB_SERVER_GOAL_HANDLE_H_
#define ACTIONLIB_SERVER_GOAL_HANDLE_H_

#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/action_definition.h>
#include <actionlib/server/status_tracker.h>
#include <actionlib/destruction_guard.h>
#include <boost/shared_ptr.hpp>

namespace actionlib {
  //forward declaration of ActionServerBase
  template <class ActionSpec>
  class ActionServerBase;

  template <class ActionSpec>
  class ServerGoalHandle {
    private:
      //generates typedefs that we'll use to make our lives easier
      ACTION_DEFINITION(ActionSpec);

    public:
      ServerGoalHandle();

      ServerGoalHandle(const ServerGoalHandle& gh);

      void setAccepted(const std::string& text = std::string(""));

      void setCanceled(const Result& result = Result(), const std::string& text = std::string(""));

      void setRejected(const Result& result = Result(), const std::string& text = std::string(""));

      void setAborted(const Result& result = Result(), const std::string& text = std::string(""));

      void setSucceeded(const Result& result = Result(), const std::string& text = std::string(""));

      void publishFeedback(const Feedback& feedback);

      bool isValid() const;

      boost::shared_ptr<const Goal> getGoal() const;

      actionlib_msgs::GoalID getGoalID() const;

      actionlib_msgs::GoalStatus getGoalStatus() const;

      ServerGoalHandle& operator=(const ServerGoalHandle& gh);

      bool operator==(const ServerGoalHandle& other) const;

      bool operator!=(const ServerGoalHandle& other) const;

    private:
      ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
          ActionServerBase<ActionSpec>* as, boost::shared_ptr<void> handle_tracker, boost::shared_ptr<DestructionGuard> guard);

      bool setCancelRequested();

      typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
      boost::shared_ptr<const ActionGoal> goal_;
      ActionServerBase<ActionSpec>* as_;
      boost::shared_ptr<void> handle_tracker_;
      boost::shared_ptr<DestructionGuard> guard_;
      friend class ActionServerBase<ActionSpec>;
  };

};

//include the implementation
#include <actionlib/server/server_goal_handle_imp.h>

#endif