multi_goal_action_server.MGActionServer Class Reference

The MGActionServer implements a multi goal policy on top of the ActionServer class. More...

List of all members.

Public Member Functions
def	__del__
def	__init__
	Constructor for a MGActionServer.
def	accept_new_goal
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	removePreemptedGoals
def	requestPreemption
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
	active_goals
	execute_callback
	execute_condition
	execute_thread
	lock
	need_to_terminate
	new_goals
	terminate_mutex

---

Detailed Description

The MGActionServer implements a multi goal policy on top of the ActionServer class.

Definition at line 164 of file multi_goal_action_server.py.

---

Constructor & Destructor Documentation

def multi_goal_action_server.MGActionServer.__init__	(		self,
			name,
			ActionSpec,
			execute_cb = None,
			auto_start = True
	)

Constructor for a MGActionServer.

Parameters:

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 171 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.__del__

(

self

)

Definition at line 194 of file multi_goal_action_server.py.

---

Member Function Documentation

def multi_goal_action_server.MGActionServer.accept_new_goal

(

self

)

Definition at line 203 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.executeLoop

(

self

)

Called from a separate thread to call blocking execute calls.

Definition at line 341 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.get_default_result

(

self

)

Definition at line 271 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.internal_goal_callback	(		self,
			goal
	)

Callback for when the ActionServer receives a new goal and passes it on.

Definition at line 296 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.internal_preempt_callback	(		self,
			goal
	)

Callback for when the ActionServer receives a new preempt and passes it on.

Definition at line 311 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.is_active	(		self,
			goal
	)

Allows polling implementations to query about the status of the current goal.

Returns:

True if a goal is active, false otherwise

Definition at line 229 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.is_new_goal_available

(

self

)

Allows polling implementations to query about the availability of a new goal.

Returns:

True if a new goal is available, false otherwise

Definition at line 214 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.is_preempt_requested	(		self,
			goal
	)

Allows polling implementations to query about preempt requests.

Returns:

True if a preempt is requested, false otherwise

Definition at line 220 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.removePreemptedGoals	(		self,
			threads_for_delete
	)

Definition at line 328 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.requestPreemption	(		self,
			goal
	)

Definition at line 235 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.set_aborted	(		self,
			goal,
			result = None,
			text = ""
	)

Sets the status of the active goal to aborted.

Parameters:

result

An optional result to send back to any clients of the goal

Definition at line 258 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.set_preempted	(		self,
			goal,
			result = None,
			text = ""
	)

Sets the status of the active goal to preempted.

Parameters:

result

An optional result to send back to any clients of the goal

Definition at line 276 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.set_succeeded	(		self,
			goal,
			result = None,
			text = ""
	)

Sets the status of the active goal to succeeded.

Parameters:

result

An optional result to send back to any clients of the goal

Definition at line 243 of file multi_goal_action_server.py.

def multi_goal_action_server.MGActionServer.start

(

self

)

Explicitly start the action server, used it auto_start is set to false.

Definition at line 291 of file multi_goal_action_server.py.

---

Member Data Documentation

multi_goal_action_server.MGActionServer::action_server

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::active_goals

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::execute_callback

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::execute_condition

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::execute_thread

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::lock

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::need_to_terminate

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::new_goals

Definition at line 171 of file multi_goal_action_server.py.

multi_goal_action_server.MGActionServer::terminate_mutex

Definition at line 171 of file multi_goal_action_server.py.

---

The documentation for this class was generated from the following file:

• multi_goal_action_server.py