simple_action_client.h

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#ifndef ACTIONLIB__CLIENT__SIMPLE_ACTION_CLIENT_H_
#define ACTIONLIB__CLIENT__SIMPLE_ACTION_CLIENT_H_

#include <boost/thread/condition.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/scoped_ptr.hpp>
#include <boost/concept_check.hpp>

#include <string>

#include "ros/ros.h"
#include "ros/callback_queue.h"
#include "actionlib/client/action_client.h"
#include "actionlib/client/simple_goal_state.h"
#include "actionlib/client/simple_client_goal_state.h"
#include "actionlib/client/terminal_state.h"

#ifndef DEPRECATED
#if defined(__GNUC__)
#define DEPRECATED __attribute__((deprecated))
#else
#define DEPRECATED
#endif
#endif


namespace actionlib
{

template<class ActionSpec>
class SimpleActionClient
{
private:
  ACTION_DEFINITION(ActionSpec)
  typedef ClientGoalHandle<ActionSpec> GoalHandleT;
  typedef SimpleActionClient<ActionSpec> SimpleActionClientT;

public:
  typedef boost::function<void (const SimpleClientGoalState & state,
    const ResultConstPtr & result)> SimpleDoneCallback;
  typedef boost::function<void ()> SimpleActiveCallback;
  typedef boost::function<void (const FeedbackConstPtr & feedback)> SimpleFeedbackCallback;

  SimpleActionClient(const std::string & name, bool spin_thread = true)
  : cur_simple_state_(SimpleGoalState::PENDING)
  {
    initSimpleClient(nh_, name, spin_thread);
  }

  SimpleActionClient(ros::NodeHandle & n, const std::string & name, bool spin_thread = true)
  : cur_simple_state_(SimpleGoalState::PENDING)
  {
    initSimpleClient(n, name, spin_thread);
  }

  ~SimpleActionClient();

  bool waitForServer(const ros::Duration & timeout = ros::Duration(0, 0) ) const
  {
    return ac_->waitForActionServerToStart(timeout);
  }

  bool isServerConnected() const
  {
    return ac_->isServerConnected();
  }

  void sendGoal(const Goal & goal,
    SimpleDoneCallback done_cb = SimpleDoneCallback(),
    SimpleActiveCallback active_cb = SimpleActiveCallback(),
    SimpleFeedbackCallback feedback_cb = SimpleFeedbackCallback());

  SimpleClientGoalState sendGoalAndWait(const Goal & goal,
    const ros::Duration & execute_timeout = ros::Duration(0, 0),
    const ros::Duration & preempt_timeout = ros::Duration(0, 0));

  bool waitForResult(const ros::Duration & timeout = ros::Duration(0, 0));

  ResultConstPtr getResult() const;

  SimpleClientGoalState getState() const;

  void cancelAllGoals();

  void cancelGoalsAtAndBeforeTime(const ros::Time & time);

  void cancelGoal();

  void stopTrackingGoal();

private:
  typedef ActionClient<ActionSpec> ActionClientT;
  ros::NodeHandle nh_;
  GoalHandleT gh_;

  SimpleGoalState cur_simple_state_;

  // Signalling Stuff
  boost::condition done_condition_;
  boost::mutex done_mutex_;

  // User Callbacks
  SimpleDoneCallback done_cb_;
  SimpleActiveCallback active_cb_;
  SimpleFeedbackCallback feedback_cb_;

  // Spin Thread Stuff
  boost::mutex terminate_mutex_;
  bool need_to_terminate_;
  boost::thread * spin_thread_;
  ros::CallbackQueue callback_queue;

  boost::scoped_ptr<ActionClientT> ac_;  // Action client depends on callback_queue, so it must be destroyed before callback_queue

  // ***** Private Funcs *****
  void initSimpleClient(ros::NodeHandle & n, const std::string & name, bool spin_thread);
  void handleTransition(GoalHandleT gh);
  void handleFeedback(GoalHandleT gh, const FeedbackConstPtr & feedback);
  void setSimpleState(const SimpleGoalState::StateEnum & next_state);
  void setSimpleState(const SimpleGoalState & next_state);
  void spinThread();
};


template<class ActionSpec>
void SimpleActionClient<ActionSpec>::initSimpleClient(ros::NodeHandle & n, const std::string & name,
  bool spin_thread)
{
  if (spin_thread) {
    ROS_DEBUG_NAMED("actionlib", "Spinning up a thread for the SimpleActionClient");
    need_to_terminate_ = false;
    spin_thread_ =
      new boost::thread(boost::bind(&SimpleActionClient<ActionSpec>::spinThread, this));
    ac_.reset(new ActionClientT(n, name, &callback_queue));
  } else {
    spin_thread_ = NULL;
    ac_.reset(new ActionClientT(n, name));
  }
}

template<class ActionSpec>
SimpleActionClient<ActionSpec>::~SimpleActionClient()
{
  if (spin_thread_) {
    {
      boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
      need_to_terminate_ = true;
    }
    spin_thread_->join();
    delete spin_thread_;
  }
  gh_.reset();
  ac_.reset();
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::spinThread()
{
  while (nh_.ok()) {
    {
      boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
      if (need_to_terminate_) {
        break;
      }
    }
    callback_queue.callAvailable(ros::WallDuration(0.1f));
  }
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::setSimpleState(const SimpleGoalState::StateEnum & next_state)
{
  setSimpleState(SimpleGoalState(next_state) );
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::setSimpleState(const SimpleGoalState & next_state)
{
  ROS_DEBUG_NAMED("actionlib", "Transitioning SimpleState from [%s] to [%s]",
    cur_simple_state_.toString().c_str(),
    next_state.toString().c_str());
  cur_simple_state_ = next_state;
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::sendGoal(const Goal & goal,
  SimpleDoneCallback done_cb,
  SimpleActiveCallback active_cb,
  SimpleFeedbackCallback feedback_cb)
{
  // Reset the old GoalHandle, so that our callbacks won't get called anymore
  gh_.reset();

  // Store all the callbacks
  done_cb_ = done_cb;
  active_cb_ = active_cb;
  feedback_cb_ = feedback_cb;

  cur_simple_state_ = SimpleGoalState::PENDING;

  // Send the goal to the ActionServer
  gh_ = ac_->sendGoal(goal, boost::bind(&SimpleActionClientT::handleTransition, this, _1),
      boost::bind(&SimpleActionClientT::handleFeedback, this, _1, _2));
}

template<class ActionSpec>
SimpleClientGoalState SimpleActionClient<ActionSpec>::getState() const
{
  if (gh_.isExpired()) {
    return SimpleClientGoalState(SimpleClientGoalState::LOST);
  }

  CommState comm_state_ = gh_.getCommState();

  switch (comm_state_.state_) {
    case CommState::WAITING_FOR_GOAL_ACK:
    case CommState::PENDING:
    case CommState::RECALLING:
      return SimpleClientGoalState(SimpleClientGoalState::PENDING);
    case CommState::ACTIVE:
    case CommState::PREEMPTING:
      return SimpleClientGoalState(SimpleClientGoalState::ACTIVE);
    case CommState::DONE:
      {
        switch (gh_.getTerminalState().state_) {
          case TerminalState::RECALLED:
            return SimpleClientGoalState(SimpleClientGoalState::RECALLED,
                     gh_.getTerminalState().text_);
          case TerminalState::REJECTED:
            return SimpleClientGoalState(SimpleClientGoalState::REJECTED,
                     gh_.getTerminalState().text_);
          case TerminalState::PREEMPTED:
            return SimpleClientGoalState(SimpleClientGoalState::PREEMPTED,
                     gh_.getTerminalState().text_);
          case TerminalState::ABORTED:
            return SimpleClientGoalState(SimpleClientGoalState::ABORTED,
                     gh_.getTerminalState().text_);
          case TerminalState::SUCCEEDED:
            return SimpleClientGoalState(SimpleClientGoalState::SUCCEEDED,
                     gh_.getTerminalState().text_);
          case TerminalState::LOST:
            return SimpleClientGoalState(SimpleClientGoalState::LOST, gh_.getTerminalState().text_);
          default:
            ROS_ERROR_NAMED("actionlib",
              "Unknown terminal state [%u]. This is a bug in SimpleActionClient",
              gh_.getTerminalState().state_);
            return SimpleClientGoalState(SimpleClientGoalState::LOST, gh_.getTerminalState().text_);
        }
      }
    case CommState::WAITING_FOR_RESULT:
    case CommState::WAITING_FOR_CANCEL_ACK:
      {
        switch (cur_simple_state_.state_) {
          case SimpleGoalState::PENDING:
            return SimpleClientGoalState(SimpleClientGoalState::PENDING);
          case SimpleGoalState::ACTIVE:
            return SimpleClientGoalState(SimpleClientGoalState::ACTIVE);
          case SimpleGoalState::DONE:
            ROS_ERROR_NAMED("actionlib",
              "In WAITING_FOR_RESULT or WAITING_FOR_CANCEL_ACK, yet we are in SimpleGoalState DONE. This is a bug in SimpleActionClient");
            return SimpleClientGoalState(SimpleClientGoalState::LOST);
          default:
            ROS_ERROR_NAMED("actionlib",
              "Got a SimpleGoalState of [%u]. This is a bug in SimpleActionClient",
              cur_simple_state_.state_);
        }
      }
    default:
      break;
  }
  ROS_ERROR_NAMED("actionlib", "Error trying to interpret CommState - %u", comm_state_.state_);
  return SimpleClientGoalState(SimpleClientGoalState::LOST);
}

template<class ActionSpec>
typename SimpleActionClient<ActionSpec>::ResultConstPtr SimpleActionClient<ActionSpec>::getResult()
const
{
  if (gh_.isExpired()) {
    ROS_ERROR_NAMED("actionlib",
      "Trying to getResult() when no goal is running. You are incorrectly using SimpleActionClient");
  }

  if (gh_.getResult()) {
    return gh_.getResult();
  }

  return ResultConstPtr(new Result);
}


template<class ActionSpec>
void SimpleActionClient<ActionSpec>::cancelAllGoals()
{
  ac_->cancelAllGoals();
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::cancelGoalsAtAndBeforeTime(const ros::Time & time)
{
  ac_->cancelGoalsAtAndBeforeTime(time);
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::cancelGoal()
{
  if (gh_.isExpired()) {
    ROS_ERROR_NAMED("actionlib",
      "Trying to cancelGoal() when no goal is running. You are incorrectly using SimpleActionClient");
  }

  gh_.cancel();
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::stopTrackingGoal()
{
  if (gh_.isExpired()) {
    ROS_ERROR_NAMED("actionlib",
      "Trying to stopTrackingGoal() when no goal is running. You are incorrectly using SimpleActionClient");
  }
  gh_.reset();
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::handleFeedback(GoalHandleT gh,
  const FeedbackConstPtr & feedback)
{
  if (gh_ != gh) {
    ROS_ERROR_NAMED("actionlib",
      "Got a callback on a goalHandle that we're not tracking.  \
               This is an internal SimpleActionClient/ActionClient bug.  \
               This could also be a GoalID collision");
  }
  if (feedback_cb_) {
    feedback_cb_(feedback);
  }
}

template<class ActionSpec>
void SimpleActionClient<ActionSpec>::handleTransition(GoalHandleT gh)
{
  CommState comm_state_ = gh.getCommState();
  switch (comm_state_.state_) {
    case CommState::WAITING_FOR_GOAL_ACK:
      ROS_ERROR_NAMED("actionlib",
        "BUG: Shouldn't ever get a transition callback for WAITING_FOR_GOAL_ACK");
      break;
    case CommState::PENDING:
      ROS_ERROR_COND(cur_simple_state_ != SimpleGoalState::PENDING,
        "BUG: Got a transition to CommState [%s] when our in SimpleGoalState [%s]",
        comm_state_.toString().c_str(), cur_simple_state_.toString().c_str());
      break;
    case CommState::ACTIVE:
      switch (cur_simple_state_.state_) {
        case SimpleGoalState::PENDING:
          setSimpleState(SimpleGoalState::ACTIVE);
          if (active_cb_) {
            active_cb_();
          }
          break;
        case SimpleGoalState::ACTIVE:
          break;
        case SimpleGoalState::DONE:
          ROS_ERROR_NAMED("actionlib",
            "BUG: Got a transition to CommState [%s] when in SimpleGoalState [%s]",
            comm_state_.toString().c_str(), cur_simple_state_.toString().c_str());
          break;
        default:
          ROS_FATAL("Unknown SimpleGoalState %u", cur_simple_state_.state_);
          break;
      }
      break;
    case CommState::WAITING_FOR_RESULT:
      break;
    case CommState::WAITING_FOR_CANCEL_ACK:
      break;
    case CommState::RECALLING:
      ROS_ERROR_COND(cur_simple_state_ != SimpleGoalState::PENDING,
        "BUG: Got a transition to CommState [%s] when our in SimpleGoalState [%s]",
        comm_state_.toString().c_str(), cur_simple_state_.toString().c_str());
      break;
    case CommState::PREEMPTING:
      switch (cur_simple_state_.state_) {
        case SimpleGoalState::PENDING:
          setSimpleState(SimpleGoalState::ACTIVE);
          if (active_cb_) {
            active_cb_();
          }
          break;
        case SimpleGoalState::ACTIVE:
          break;
        case SimpleGoalState::DONE:
          ROS_ERROR_NAMED("actionlib",
            "BUG: Got a transition to CommState [%s] when in SimpleGoalState [%s]",
            comm_state_.toString().c_str(), cur_simple_state_.toString().c_str());
          break;
        default:
          ROS_FATAL("Unknown SimpleGoalState %u", cur_simple_state_.state_);
          break;
      }
      break;
    case CommState::DONE:
      switch (cur_simple_state_.state_) {
        case SimpleGoalState::PENDING:
        case SimpleGoalState::ACTIVE:
          {
            boost::mutex::scoped_lock lock(done_mutex_);
            setSimpleState(SimpleGoalState::DONE);
          }

          if (done_cb_) {
            done_cb_(getState(), gh.getResult());
          }

          done_condition_.notify_all();
          break;
        case SimpleGoalState::DONE:
          ROS_ERROR_NAMED("actionlib", "BUG: Got a second transition to DONE");
          break;
        default:
          ROS_FATAL("Unknown SimpleGoalState %u", cur_simple_state_.state_);
          break;
      }
      break;
    default:
      ROS_ERROR_NAMED("actionlib", "Unknown CommState received [%u]", comm_state_.state_);
      break;
  }
}

template<class ActionSpec>
bool SimpleActionClient<ActionSpec>::waitForResult(const ros::Duration & timeout)
{
  if (gh_.isExpired()) {
    ROS_ERROR_NAMED("actionlib",
      "Trying to waitForGoalToFinish() when no goal is running. You are incorrectly using SimpleActionClient");
    return false;
  }

  if (timeout < ros::Duration(0, 0)) {
    ROS_WARN_NAMED("actionlib", "Timeouts can't be negative. Timeout is [%.2fs]", timeout.toSec());
  }

  ros::Time timeout_time = ros::Time::now() + timeout;

  boost::mutex::scoped_lock lock(done_mutex_);

  // Hardcode how often we check for node.ok()
  ros::Duration loop_period = ros::Duration().fromSec(.1);

  while (nh_.ok()) {
    // Determine how long we should wait
    ros::Duration time_left = timeout_time - ros::Time::now();

    // Check if we're past the timeout time
    if (timeout > ros::Duration(0, 0) && time_left <= ros::Duration(0, 0) ) {
      break;
    }

    if (cur_simple_state_ == SimpleGoalState::DONE) {
      break;
    }


    // Truncate the time left
    if (time_left > loop_period || timeout == ros::Duration()) {
      time_left = loop_period;
    }

    done_condition_.timed_wait(lock,
      boost::posix_time::milliseconds(static_cast<int64_t>(time_left.toSec() * 1000.0f)));
  }

  return cur_simple_state_ == SimpleGoalState::DONE;
}

template<class ActionSpec>
SimpleClientGoalState SimpleActionClient<ActionSpec>::sendGoalAndWait(const Goal & goal,
  const ros::Duration & execute_timeout,
  const ros::Duration & preempt_timeout)
{
  sendGoal(goal);

  // See if the goal finishes in time
  if (waitForResult(execute_timeout)) {
    ROS_DEBUG_NAMED("actionlib", "Goal finished within specified execute_timeout [%.2f]",
      execute_timeout.toSec());
    return getState();
  }

  ROS_DEBUG_NAMED("actionlib", "Goal didn't finish within specified execute_timeout [%.2f]",
    execute_timeout.toSec());

  // It didn't finish in time, so we need to preempt it
  cancelGoal();

  // Now wait again and see if it finishes
  if (waitForResult(preempt_timeout)) {
    ROS_DEBUG_NAMED("actionlib", "Preempt finished within specified preempt_timeout [%.2f]",
      preempt_timeout.toSec());
  } else {
    ROS_DEBUG_NAMED("actionlib", "Preempt didn't finish specified preempt_timeout [%.2f]",
      preempt_timeout.toSec());
  }
  return getState();
}

}  // namespace actionlib

#undef DEPRECATED

#endif  // ACTIONLIB__CLIENT__SIMPLE_ACTION_CLIENT_H_