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__STATUS_TRACKER_IMP_H_ 00038 #define ACTIONLIB__SERVER__STATUS_TRACKER_IMP_H_ 00039 namespace actionlib 00040 { 00041 template<class ActionSpec> 00042 StatusTracker<ActionSpec>::StatusTracker(const actionlib_msgs::GoalID & goal_id, 00043 unsigned int status) 00044 { 00045 // set the goal id and status appropriately 00046 status_.goal_id = goal_id; 00047 status_.status = status; 00048 } 00049 00050 template<class ActionSpec> 00051 StatusTracker<ActionSpec>::StatusTracker(const boost::shared_ptr<const ActionGoal> & goal) 00052 : goal_(goal) 00053 { 00054 // set the goal_id from the message 00055 status_.goal_id = goal_->goal_id; 00056 00057 // initialize the status of the goal to pending 00058 status_.status = actionlib_msgs::GoalStatus::PENDING; 00059 00060 // if the goal id is zero, then we need to make up an id for the goal 00061 if (status_.goal_id.id == "") { 00062 status_.goal_id = id_generator_.generateID(); 00063 } 00064 00065 // if the timestamp of the goal is zero, then we'll set it to now() 00066 if (status_.goal_id.stamp == ros::Time()) { 00067 status_.goal_id.stamp = ros::Time::now(); 00068 } 00069 } 00070 } // namespace actionlib 00071 #endif // ACTIONLIB__SERVER__STATUS_TRACKER_IMP_H_