server_goal_handle.h

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_
#define ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_

#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/action_definition.h>
#include <actionlib/server/status_tracker.h>
#include <actionlib/destruction_guard.h>
#include <boost/shared_ptr.hpp>

#include <list>
#include <string>

namespace actionlib
{
// forward declaration of ActionServerBase
template<class ActionSpec>
class ActionServerBase;

template<class ActionSpec>
class ServerGoalHandle
{
private:
  // generates typedefs that we'll use to make our lives easier
  ACTION_DEFINITION(ActionSpec)

public:
  ServerGoalHandle();

  ServerGoalHandle(const ServerGoalHandle & gh);

  void setAccepted(const std::string & text = std::string(""));

  void setCanceled(const Result & result = Result(), const std::string & text = std::string(""));

  void setRejected(const Result & result = Result(), const std::string & text = std::string(""));

  void setAborted(const Result & result = Result(), const std::string & text = std::string(""));

  void setSucceeded(const Result & result = Result(), const std::string & text = std::string(""));

  void publishFeedback(const Feedback & feedback);

  bool isValid() const;

  boost::shared_ptr<const Goal> getGoal() const;

  actionlib_msgs::GoalID getGoalID() const;

  actionlib_msgs::GoalStatus getGoalStatus() const;

  ServerGoalHandle & operator=(const ServerGoalHandle & gh);

  bool operator==(const ServerGoalHandle & other) const;

  bool operator!=(const ServerGoalHandle & other) const;

private:
  ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
    ActionServerBase<ActionSpec> * as, boost::shared_ptr<void> handle_tracker,
    boost::shared_ptr<DestructionGuard> guard);

  bool setCancelRequested();

  typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
  boost::shared_ptr<const ActionGoal> goal_;
  ActionServerBase<ActionSpec> * as_;
  boost::shared_ptr<void> handle_tracker_;
  boost::shared_ptr<DestructionGuard> guard_;
  friend class ActionServerBase<ActionSpec>;
};

}  // namespace actionlib

// include the implementation
#include <actionlib/server/server_goal_handle_imp.h>

#endif  // ACTIONLIB__SERVER__SERVER_GOAL_HANDLE_H_