locomotor_action_server.cpp

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#include <locomotor/locomotor_action_server.h>
#include <nav_2d_utils/path_ops.h>
#include <string>
 
namespace locomotor
{
 
LocomotorActionServer::LocomotorActionServer(const ros::NodeHandle nh, NewGoalCallback cb, const std::string name)
  : navigate_action_server_(nh, name, false), goal_cb_(cb)
{
  navigate_action_server_.registerGoalCallback(std::bind(&LocomotorActionServer::preGoalCallback, this));
  navigate_action_server_.registerPreemptCallback(std::bind(&LocomotorActionServer::preemptCallback, this));
  navigate_action_server_.start();
}
void LocomotorActionServer::publishFeedback(const locomotor_msgs::NavigationState& nav_state)
{
  if (!navigate_action_server_.isActive()) return;
 
  // Update The Feedback
  const geometry_msgs::Pose2D& pose = nav_state.global_pose.pose;
  if (feedback_.state.global_pose.header.frame_id.length() > 0)
  {
    // If we already have a global pose saved, calculate the distance traveled
    const geometry_msgs::Pose2D& prev_pose = feedback_.state.global_pose.pose;
    feedback_.distance_traveled += nav_2d_utils::poseDistance(prev_pose, pose);
  }
 
  feedback_.state = nav_state;
 
  if (feedback_.state.global_plan.poses.size() > 0)
  {
    feedback_.estimated_distance_remaining = nav_2d_utils::getPlanLength(feedback_.state.global_plan, pose);
    double total_distance = feedback_.distance_traveled + feedback_.estimated_distance_remaining;
    if (total_distance != 0.0)
      feedback_.percent_complete = feedback_.distance_traveled / total_distance;
  }
 
  navigate_action_server_.publishFeedback(feedback_);
}
 
void LocomotorActionServer::completeNavigation()
{
  if (!navigate_action_server_.isActive()) return;
  navigate_action_server_.setSucceeded();
}
void LocomotorActionServer::failNavigation(const locomotor_msgs::ResultCode& result_code)
{
  if (!navigate_action_server_.isActive()) return;
  locomotor_msgs::NavigateToPoseResult result;
  result.result_code = result_code;
  navigate_action_server_.setAborted(result, result_code.message);
}
 
void LocomotorActionServer::preGoalCallback()
{
  feedback_.distance_traveled = 0.0;
  feedback_.percent_complete = 0.0;
  feedback_.estimated_distance_remaining = 0.0;
  feedback_.state = locomotor_msgs::NavigationState();
 
  auto full_goal = navigate_action_server_.acceptNewGoal();
  goal_cb_(full_goal->goal);
}
 
void LocomotorActionServer::preemptCallback()
{
  if (!navigate_action_server_.isActive()) return;
  locomotor_msgs::NavigateToPoseResult result;
  result.result_code.result_code = -1;
  result.result_code.message = "Preempted.";
  navigate_action_server_.setPreempted(result, result.result_code.message);
}
 
}  // namespace locomotor