ref_server.cpp
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00034 
00036 
00037 #include <actionlib/server/action_server.h>
00038 #include <actionlib/TestAction.h>
00039 #include <ros/ros.h>
00040 #include <cstdio>
00041 #include <string>
00042 
00043 namespace actionlib
00044 {
00045 
00046 class RefServer : public ActionServer<TestAction>
00047 {
00048 public:
00049   typedef ServerGoalHandle<TestAction> GoalHandle;
00050 
00051   RefServer(ros::NodeHandle & n, const std::string & name);
00052 
00053 private:
00054   void goalCallback(GoalHandle gh);
00055   void cancelCallback(GoalHandle gh);
00056 };
00057 
00058 }  // namespace actionlib
00059 
00060 using namespace actionlib;
00061 
00062 RefServer::RefServer(ros::NodeHandle & n, const std::string & name)
00063 : ActionServer<TestAction>(n, name,
00064     boost::bind(&RefServer::goalCallback, this, _1),
00065     boost::bind(&RefServer::cancelCallback, this, _1),
00066     false)
00067 {
00068   start();
00069   printf("Creating ActionServer [%s]\n", name.c_str());
00070 }
00071 
00072 void RefServer::goalCallback(GoalHandle gh)
00073 {
00074   TestGoal goal = *gh.getGoal();
00075 
00076   switch (goal.goal) {
00077     case 1:
00078       gh.setAccepted();
00079       gh.setSucceeded(TestResult(), "The ref server has succeeded");
00080       break;
00081     case 2:
00082       gh.setAccepted();
00083       gh.setAborted(TestResult(), "The ref server has aborted");
00084       break;
00085     case 3:
00086       gh.setRejected(TestResult(), "The ref server has rejected");
00087       break;
00088     default:
00089       break;
00090   }
00091 }
00092 
00093 void RefServer::cancelCallback(GoalHandle)
00094 {
00095 }
00096 
00097 
00098 int main(int argc, char ** argv)
00099 {
00100   ros::init(argc, argv, "ref_server");
00101 
00102   ros::NodeHandle nh;
00103 
00104   RefServer ref_server(nh, "reference_action");
00105 
00106   ros::spin();
00107 }


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