simple_execute_ref_server.cpp
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00034 
00036 
00037 #include <actionlib/server/simple_action_server.h>
00038 #include <actionlib/TestAction.h>
00039 #include <ros/ros.h>
00040 
00041 namespace actionlib
00042 {
00043 
00044 class SimpleExecuteRefServer
00045 {
00046 public:
00047   typedef ServerGoalHandle<TestAction> GoalHandle;
00048 
00049   SimpleExecuteRefServer();
00050 
00051 private:
00052   ros::NodeHandle nh_;
00053   SimpleActionServer<TestAction> as_;
00054 
00055   void executeCallback(const TestGoalConstPtr& goal);
00056 };
00057 
00058 }
00059 
00060 using namespace actionlib;
00061 
00062 SimpleExecuteRefServer::SimpleExecuteRefServer() : as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this, _1), false)
00063 {
00064   as_.start();
00065 }
00066 
00067 void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr& goal)
00068 {
00069   ROS_DEBUG_NAMED("actionlib", "Got a goal of type [%u]", goal->goal);
00070   switch (goal->goal)
00071   {
00072     case 1:
00073       ROS_DEBUG_NAMED("actionlib", "Got goal #1");
00074       as_.setSucceeded(TestResult(), "The ref server has succeeded");
00075       break;
00076     case 2:
00077       ROS_DEBUG_NAMED("actionlib", "Got goal #2");
00078       as_.setAborted(TestResult(), "The ref server has aborted");
00079       break;
00080     case 4:
00081     {
00082       ROS_DEBUG_NAMED("actionlib", "Got goal #4");
00083       ros::Duration sleep_dur(.1);
00084       for (unsigned int i=0; i<100; i++)
00085       {
00086         sleep_dur.sleep();
00087         if (as_.isPreemptRequested())
00088         {
00089           as_.setPreempted();
00090           return;
00091         }
00092       }
00093       as_.setAborted();
00094       break;
00095     }
00096     default:
00097       break;
00098   }
00099 }
00100 
00101 int main(int argc, char** argv)
00102 {
00103   ros::init(argc, argv, "ref_server");
00104 
00105   SimpleExecuteRefServer server;
00106 
00107   ros::spin();
00108 
00109   return 0;
00110 }
00111 
00112 


roseus
Author(s): Kei Okada
autogenerated on Fri Sep 8 2017 03:48:23