actionlib::simple_action_server::SimpleActionServer Class Reference

The SimpleActionServer implements a singe goal policy on top of the ActionServer class. More...

Inheritance diagram for actionlib::simple_action_server::SimpleActionServer:

Public Member Functions
def	__del__
def	__init__
	Constructor for a SimpleActionServer.
def	accept_new_goal
	Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted.
def	executeLoop
	Called from a separate thread to call blocking execute calls.
def	get_default_result
def	internal_goal_callback
	Callback for when the ActionServer receives a new goal and passes it on.
def	internal_preempt_callback
	Callback for when the ActionServer receives a new preempt and passes it on.
def	is_active
	Allows polling implementations to query about the status of the current goal.
def	is_new_goal_available
	Allows polling implementations to query about the availability of a new goal.
def	is_preempt_requested
	Allows polling implementations to query about preempt requests.
def	publish_feedback
	Publishes feedback for a given goal.
def	register_goal_callback
	Allows users to register a callback to be invoked when a new goal is available.
def	register_preempt_callback
	Allows users to register a callback to be invoked when a new preempt request is available.
def	set_aborted
	Sets the status of the active goal to aborted.
def	set_preempted
	Sets the status of the active goal to preempted.
def	set_succeeded
	Sets the status of the active goal to succeeded.
def	start
	Explicitly start the action server, used it auto_start is set to false.
Public Attributes
	action_server
	current_goal
	execute_callback
	execute_condition
	execute_thread
	goal_callback
	lock
	need_to_terminate
	new_goal
	new_goal_preempt_request
	next_goal
	preempt_callback
	preempt_request
	terminate_mutex

Detailed Description

The SimpleActionServer implements a singe goal policy on top of the ActionServer class.

The specification of the policy is as follows: only one goal can have an active status at a time, new goals preempt previous goals based on the stamp in their GoalID field (later goals preempt earlier ones), an explicit preempt goal preempts all goals with timestamps that are less than or equal to the stamp associated with the preempt, accepting a new goal implies successful preemption of any old goal and the status of the old goal will be change automatically to reflect this.

Definition at line 58 of file simple_action_server.py.

Member Function Documentation

def actionlib::simple_action_server::SimpleActionServer::__del__ ( self )

Definition at line 94 of file simple_action_server.py.

def actionlib::simple_action_server::SimpleActionServer::__init__	(	self,
		name,
		ActionSpec,
		execute_cb = `None`,
		auto_start = `True`
	)

Constructor for a SimpleActionServer.

Parameters:

	name	A name for the action server
	execute_cb	Optional callback that gets called in a separate thread whenever a new goal is received, allowing users to have blocking callbacks. Adding an execute callback also deactivates the goalCallback.
	auto_start	A boolean value that tells the ActionServer wheteher or not to start publishing as soon as it comes up. THIS SHOULD ALWAYS BE SET TO FALSE TO AVOID RACE CONDITIONS and start() should be called after construction of the server.

Definition at line 65 of file simple_action_server.py.

def actionlib::simple_action_server::SimpleActionServer::accept_new_goal ( self )

Accepts a new goal when one is available The status of this goal is set to active upon acceptance, and the status of any previously active goal is set to preempted.

Preempts received for the new goal between checking if isNewGoalAvailable or invokation of a goal callback and the acceptNewGoal call will not trigger a preempt callback. This means, isPreemptReqauested should be called after accepting the goal even for callback-based implementations to make sure the new goal does not have a pending preempt request.