server_goal_handle.h
Go to the documentation of this file.
1 /*********************************************************************
2 *
3 * Software License Agreement (BSD License)
4 *
5 * Copyright (c) 2008, Willow Garage, Inc.
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Willow Garage, Inc. nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 *
35 * Author: Eitan Marder-Eppstein
36 *********************************************************************/
37 #ifndef ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_
38 #define ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_
39 
40 #include <actionlib_msgs/GoalID.h>
41 #include <actionlib_msgs/GoalStatus.h>
45 #include <boost/shared_ptr.hpp>
46 
47 #include <list>
48 #include <string>
49 
50 namespace actionlib
51 {
52 // forward declaration of ActionServerBase
53 template<class ActionSpec>
54 class ActionServerBase;
55 
62 template<class ActionSpec>
64 {
65 private:
66  // generates typedefs that we'll use to make our lives easier
67  ACTION_DEFINITION(ActionSpec);
68 
69 public:
74 
80 
86  void setAccepted(const std::string & text = std::string(""));
87 
94  void setCanceled(const Result & result = Result(), const std::string & text = std::string(""));
95 
101  void setRejected(const Result & result = Result(), const std::string & text = std::string(""));
102 
108  void setAborted(const Result & result = Result(), const std::string & text = std::string(""));
109 
115  void setSucceeded(const Result & result = Result(), const std::string & text = std::string(""));
116 
121  void publishFeedback(const Feedback & feedback);
122 
131  bool isValid() const;
132 
138 
143  actionlib_msgs::GoalID getGoalID() const;
144 
149  actionlib_msgs::GoalStatus getGoalStatus() const;
150 
156 
162  bool operator==(const ServerGoalHandle & other) const;
163 
169  bool operator!=(const ServerGoalHandle & other) const;
170 
171 private:
175  ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
178 
183  bool setCancelRequested();
184 
185  typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
190  friend class ActionServerBase<ActionSpec>;
191 };
192 
193 } // namespace actionlib
194 
195 // include the implementation
197 
198 #endif // ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_
bool operator==(const ServerGoalHandle &other) const
Equals operator for ServerGoalHandles.
void publishFeedback(const Feedback &feedback)
Send feedback to any clients of the goal associated with this ServerGoalHandle.
ActionServerBase< ActionSpec > * as_
actionlib_msgs::GoalID getGoalID() const
Accessor for the goal id associated with the ServerGoalHandle.
boost::shared_ptr< void > handle_tracker_
void setRejected(const Result &result=Result(), const std::string &text=std::string(""))
Set the status of the goal associated with the ServerGoalHandle to rejected.
boost::shared_ptr< const Goal > getGoal() const
Accessor for the goal associated with the ServerGoalHandle.
bool operator!=(const ServerGoalHandle &other) const
!= operator for ServerGoalHandles
boost::shared_ptr< const ActionGoal > goal_
void setCanceled(const Result &result=Result(), const std::string &text=std::string(""))
Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED depending on...
void setAccepted(const std::string &text=std::string(""))
Accept the goal referenced by the goal handle. This will transition to the ACTIVE state or the PREEMP...
void setSucceeded(const Result &result=Result(), const std::string &text=std::string(""))
Set the status of the goal associated with the ServerGoalHandle to succeeded.
A class for storing the status of each goal the action server is currently working on...
boost::shared_ptr< DestructionGuard > guard_
bool isValid() const
Determine if the goal handle is valid (tracking a valid goal, and associated with a valid action serv...
ServerGoalHandle()
Default constructor for a ServerGoalHandle.
std::list< StatusTracker< ActionSpec > >::iterator status_it_
The ActionServerBase implements the logic for an ActionServer.
Encapsulates a state machine for a given goal that the user can trigger transitions on...
void setAborted(const Result &result=Result(), const std::string &text=std::string(""))
Set the status of the goal associated with the ServerGoalHandle to aborted.
ServerGoalHandle & operator=(const ServerGoalHandle &gh)
Equals operator for a ServerGoalHandle.
actionlib_msgs::GoalStatus getGoalStatus() const
Accessor for the status associated with the ServerGoalHandle.
bool setCancelRequested()
A private method to set status to PENDING or RECALLING.


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Mon Feb 18 2019 03:38:50