action_server.h
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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
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB__SERVER__ACTION_SERVER_H_
00038 #define ACTIONLIB__SERVER__ACTION_SERVER_H_
00039 
00040 #include <ros/ros.h>
00041 #include <boost/thread.hpp>
00042 #include <boost/thread/reverse_lock.hpp>
00043 #include <boost/shared_ptr.hpp>
00044 #include <actionlib_msgs/GoalID.h>
00045 #include <actionlib_msgs/GoalStatusArray.h>
00046 #include <actionlib_msgs/GoalStatus.h>
00047 #include <actionlib/enclosure_deleter.h>
00048 #include <actionlib/goal_id_generator.h>
00049 #include <actionlib/action_definition.h>
00050 #include <actionlib/server/status_tracker.h>
00051 #include <actionlib/server/handle_tracker_deleter.h>
00052 #include <actionlib/server/server_goal_handle.h>
00053 #include <actionlib/server/action_server_base.h>
00054 #include <actionlib/destruction_guard.h>
00055 
00056 #include <list>
00057 #include <string>
00058 
00059 namespace actionlib
00060 {
00071 template<class ActionSpec>
00072 class ActionServer : public ActionServerBase<ActionSpec>
00073 {
00074 public:
00075   // for convenience when referring to ServerGoalHandles
00076   typedef ServerGoalHandle<ActionSpec> GoalHandle;
00077 
00078   // generates typedefs that we'll use to make our lives easier
00079   ACTION_DEFINITION(ActionSpec);
00080 
00089   ActionServer(ros::NodeHandle n, std::string name,
00090     boost::function<void(GoalHandle)> goal_cb,
00091     boost::function<void(GoalHandle)> cancel_cb,
00092     bool auto_start);
00093 
00101   ActionServer(ros::NodeHandle n, std::string name,
00102     boost::function<void(GoalHandle)> goal_cb,
00103     bool auto_start);
00104 
00112   ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name,
00113     boost::function<void(GoalHandle)> goal_cb,
00114     boost::function<void(GoalHandle)> cancel_cb = boost::function<void(GoalHandle)>());
00115 
00122   ActionServer(ros::NodeHandle n, std::string name,
00123     bool auto_start);
00124 
00130   ROS_DEPRECATED ActionServer(ros::NodeHandle n, std::string name);
00131 
00135   virtual ~ActionServer();
00136 
00137 private:
00141   virtual void initialize();
00142 
00148   virtual void publishResult(const actionlib_msgs::GoalStatus & status, const Result & result);
00149 
00155   virtual void publishFeedback(const actionlib_msgs::GoalStatus & status,
00156     const Feedback & feedback);
00157 
00161   virtual void publishStatus();
00162 
00166   void publishStatus(const ros::TimerEvent & e);
00167 
00168   ros::NodeHandle node_;
00169 
00170   ros::Subscriber goal_sub_, cancel_sub_;
00171   ros::Publisher status_pub_, result_pub_, feedback_pub_;
00172 
00173   ros::Timer status_timer_;
00174 };
00175 }  // namespace actionlib
00176 
00177 // include the implementation
00178 #include <actionlib/server/action_server_imp.h>
00179 #endif  // ACTIONLIB__SERVER__ACTION_SERVER_H_


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Sep 28 2017 02:51:16