interruptable_action_server.h

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#ifndef BWI_INTERRUPTABLE_ACTION_SERVER_H_
#define BWI_INTERRUPTABLE_ACTION_SERVER_H_

#include <boost/thread/condition.hpp>
#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/action_definition.h>
#include <std_srvs/Empty.h>

namespace bwi_interruptable_action_server {
  template <class ActionSpec>
  class InterruptableActionServer {
    public:

      ACTION_DEFINITION(ActionSpec);

      typedef typename actionlib::ActionServer<ActionSpec>::GoalHandle GoalHandle;
      typedef boost::function<void(const ResultConstPtr&, const actionlib::SimpleClientGoalState&, int)> ResultCallback;
      typedef boost::function<void(const GoalConstPtr&)> NewGoalCallback;
      
      InterruptableActionServer(ros::NodeHandle n, 
                                std::string name, 
                                int max_attempts = 1, 
                                NewGoalCallback new_goal_callback = 0,
                                ResultCallback result_callback = 0);
      ~InterruptableActionServer();

      void spin();

    protected:

      bool pause(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
      bool resume(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
      void goalCallback(GoalHandle goal);
      void cancelCallback(GoalHandle preempt);

      void publishFeedback(const FeedbackConstPtr& feedback);

      ros::NodeHandle n_;

      ros::ServiceServer pause_server_;
      ros::ServiceServer resume_server_;

      boost::shared_ptr<actionlib::ActionServer<ActionSpec> > as_;
      boost::shared_ptr<actionlib::SimpleActionClient<ActionSpec> > ac_;

      boost::recursive_mutex lock_;

      std::string interruptable_server_name_;

      GoalHandle current_goal_, original_goal_, next_goal_;

      bool original_goal_available_;
      bool switch_to_original_goal_;
      bool next_goal_available_;
      bool pursue_current_goal_;
      bool pursuing_current_goal_;

      int max_attempts_;
      int current_attempts_;
      ResultCallback result_callback_;

      NewGoalCallback new_goal_callback_;
  };
};

//include the implementation here
#include <bwi_interruptable_action_server/interruptable_action_server_imp.h>
#endif