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 #include <string> 00039 00040 // using namespace actionlib; 00041 00042 static boost::mutex s_goalcount_mutex_; 00043 static unsigned int s_goalcount_ = 0; 00044 00045 actionlib::GoalIDGenerator::GoalIDGenerator() 00046 { 00047 setName(ros::this_node::getName()); 00048 } 00049 00050 actionlib::GoalIDGenerator::GoalIDGenerator(const std::string & name) 00051 { 00052 setName(name); 00053 } 00054 00055 void actionlib::GoalIDGenerator::setName(const std::string & name) 00056 { 00057 name_ = name; 00058 } 00059 00060 actionlib_msgs::GoalID actionlib::GoalIDGenerator::generateID() 00061 { 00062 actionlib_msgs::GoalID id; 00063 ros::Time cur_time = ros::Time::now(); 00064 std::stringstream ss; 00065 00066 ss << name_ << "-"; 00067 00068 { 00069 boost::mutex::scoped_lock lock(s_goalcount_mutex_); 00070 s_goalcount_++; 00071 ss << s_goalcount_ << "-"; 00072 } 00073 00074 ss << cur_time.sec << "." << cur_time.nsec; 00075 id.id = ss.str(); 00076 id.stamp = cur_time; 00077 return id; 00078 }