service_server_imp.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
38 #define ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
39 
40 #include <string>
41 
42 namespace actionlib
43 {
44 
45 template<class ActionSpec>
47  boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &,
48  typename ActionSpec::_action_result_type::_result_type & result)> service_cb)
49 {
51  service_cb));
52  return ServiceServer(server_ptr);
53 }
54 
55 template<class ActionSpec>
57  boost::function<bool(const Goal &, Result & result)> service_cb)
58 : service_cb_(service_cb)
59 {
61  boost::bind(&ServiceServerImpT::goalCB, this, _1), false));
62  as_->start();
63 }
64 
65 template<class ActionSpec>
67 {
68  goal.setAccepted("This goal has been accepted by the service server");
69 
70  // we need to pass the result into the users callback
71  Result r;
72  if (service_cb_(*(goal.getGoal()), r)) {
73  goal.setSucceeded(r, "The service server successfully processed the request");
74  } else {
75  goal.setAborted(r, "The service server failed to process the request");
76  }
77 }
78 
79 } // namespace actionlib
80 #endif // ACTIONLIB__SERVER__SERVICE_SERVER_IMP_H_
boost::shared_ptr< ActionServer< ActionSpec > > as_
ServiceServer advertiseService(ros::NodeHandle n, std::string name, boost::function< bool(const typename ActionSpec::_action_goal_type::_goal_type &, typename ActionSpec::_action_result_type::_result_type &result)> service_cb)
ServiceServerImpT(ros::NodeHandle n, std::string name, boost::function< bool(const Goal &, Result &result)> service_cb)
boost::shared_ptr< const Goal > getGoal() const
Accessor for the goal associated with the ServerGoalHandle.
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.
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.
The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specif...
Definition: action_server.h:72
boost::function< bool(const Goal &, Result &result)> service_cb_


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Tue Sep 3 2019 03:41:41