action_server.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB__SERVER__ACTION_SERVER_H_
#define ACTIONLIB__SERVER__ACTION_SERVER_H_

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/thread/reverse_lock.hpp>
#include <boost/shared_ptr.hpp>
#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatusArray.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/enclosure_deleter.h>
#include <actionlib/goal_id_generator.h>
#include <actionlib/action_definition.h>
#include <actionlib/server/status_tracker.h>
#include <actionlib/server/handle_tracker_deleter.h>
#include <actionlib/server/server_goal_handle.h>
#include <actionlib/server/action_server_base.h>
#include <actionlib/destruction_guard.h>

#include <list>
#include <string>

namespace actionlib
{
template<class ActionSpec>
class ActionServer : public ActionServerBase<ActionSpec>
{
public:
  // for convenience when referring to ServerGoalHandles
  typedef ServerGoalHandle<ActionSpec> GoalHandle;

  // generates typedefs that we'll use to make our lives easier
  ACTION_DEFINITION(ActionSpec);

  ActionServer(ros::NodeHandle n, std::string name,
    boost::function<void(GoalHandle)> goal_cb,
    boost::function<void(GoalHandle)> cancel_cb,
    bool auto_start);

  ActionServer(ros::NodeHandle n, std::string name,
    boost::function<void(GoalHandle)> goal_cb,
    bool auto_start);

  ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name,
    boost::function<void(GoalHandle)> goal_cb,
    boost::function<void(GoalHandle)> cancel_cb = boost::function<void(GoalHandle)>());

  ActionServer(ros::NodeHandle n, std::string name,
    bool auto_start);

  ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name);

  virtual ~ActionServer();

private:
  virtual void initialize();

  virtual void publishResult(const actionlib_msgs::GoalStatus & status, const Result & result);

  virtual void publishFeedback(const actionlib_msgs::GoalStatus & status,
    const Feedback & feedback);

  virtual void publishStatus();

  void publishStatus(const ros::TimerEvent & e);

  ros::NodeHandle node_;

  ros::Subscriber goal_sub_, cancel_sub_;
  ros::Publisher status_pub_, result_pub_, feedback_pub_;

  ros::Timer status_timer_;
};
}  // namespace actionlib

// include the implementation
#include <actionlib/server/action_server_imp.h>
#endif  // ACTIONLIB__SERVER__ACTION_SERVER_H_