00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTIONLIB__SERVER__HANDLE_TRACKER_DELETER_IMP_H_ 00038 #define ACTIONLIB__SERVER__HANDLE_TRACKER_DELETER_IMP_H_ 00039 00040 #include <list> 00041 00042 namespace actionlib 00043 { 00044 template<class ActionSpec> 00045 HandleTrackerDeleter<ActionSpec>::HandleTrackerDeleter(ActionServerBase<ActionSpec> * as, 00046 typename std::list<StatusTracker<ActionSpec> >::iterator status_it, 00047 boost::shared_ptr<DestructionGuard> guard) 00048 : as_(as), status_it_(status_it), guard_(guard) {} 00049 00050 template<class ActionSpec> 00051 void HandleTrackerDeleter<ActionSpec>::operator()(void *) 00052 { 00053 if (as_) { 00054 // make sure that the action server hasn't been destroyed yet 00055 DestructionGuard::ScopedProtector protector(*guard_); 00056 if (protector.isProtected()) { 00057 // make sure to lock while we erase status for this goal from the list 00058 boost::recursive_mutex::scoped_lock lock(as_->lock_); 00059 (*status_it_).handle_destruction_time_ = ros::Time::now(); 00060 // as_->status_list_.erase(status_it_); 00061 } 00062 } 00063 } 00064 } // namespace actionlib 00065 #endif // ACTIONLIB__SERVER__HANDLE_TRACKER_DELETER_IMP_H_