abstract_execution_base.cpp

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/*
 *  Copyright 2018, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 *  3. Neither the name of the copyright holder 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 HOLDER 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.
 *
 *  abstract_execution_base.cpp
 *
 *  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */

#include "mbf_abstract_nav/abstract_execution_base.h"

namespace mbf_abstract_nav{

  AbstractExecutionBase::AbstractExecutionBase(std::string name,
                                               boost::function<void()> setup_fn,
                                               boost::function<void()> cleanup_fn)
    : outcome_(255), cancel_(false), name_(name), setup_fn_(setup_fn), cleanup_fn_(cleanup_fn)
  {
  }

  bool AbstractExecutionBase::start()
  {
    //setState(STARTED); // TODO
    thread_ = boost::thread(&AbstractExecutionBase::run, this);
    return true;
  }

  void AbstractExecutionBase::stop()
  {
    ROS_WARN_STREAM("Trying to stop the planning rigorously by interrupting the thread!");
    thread_.interrupt();
    //setState(STOPPED); // TODO
  }

  void AbstractExecutionBase::join(){
    thread_.join();
  }

  void AbstractExecutionBase::waitForStateUpdate(boost::chrono::microseconds const &duration)
  {
    boost::mutex mutex;
    boost::unique_lock<boost::mutex> lock(mutex);
    condition_.wait_for(lock, duration);
  }

  uint32_t AbstractExecutionBase::getOutcome()
  {
    return outcome_;
  }

  std::string AbstractExecutionBase::getMessage()
  {
    return message_;
  }

  std::string AbstractExecutionBase::getName()
  {
    return name_;
  }


} /* namespace mbf_abstract_nav */