oro_action_server.h

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* Author: Eitan Marder-Eppstein
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#ifndef ACTION_LIB_ACTION_SERVER
#define ACTION_LIB_ACTION_SERVER

#include <rtt/TaskContext.hpp>
#include <rtt/Port.hpp>
#include <rtt/Logger.hpp>
#include <rtt/os/TimeService.hpp>

#include <ros/ros.h>
#include <boost/thread.hpp>
#include <boost/shared_ptr.hpp>
#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatusArray.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/enclosure_deleter.h>
#include <actionlib/goal_id_generator.h>
#include <actionlib/action_definition.h>
#include <actionlib/server/status_tracker.h>
#include <actionlib/server/handle_tracker_deleter.h>
#include <actionlib/server/server_goal_handle.h>
#include <actionlib/destruction_guard.h>

#include <list>

namespace actionlib {
  template <class ActionSpec>
  class ActionServer {
    public:
      //for convenience when referring to ServerGoalHandles
      typedef ServerGoalHandle<ActionSpec> GoalHandle;

    private:
      //generates typedefs that we'll use to make our lives easier
      ACTION_DEFINITION(ActionSpec);

    public:
      ActionServer(RTT::TaskContext* n, std::string name,
          boost::function<void (GoalHandle)> goal_cb,
          boost::function<void (GoalHandle)> cancel_cb = boost::function<void (GoalHandle)>(),
          bool auto_start = true);

      ActionServer(RTT::TaskContext* n, std::string name,
          bool auto_start = true);

      ~ActionServer();

      void registerGoalCallback(boost::function<void (GoalHandle)> cb);

      void registerCancelCallback(boost::function<void (GoalHandle)> cb);

      void start();

        void spinOnce();

    private:
      void initialize();

      void publishResult(const actionlib_msgs::GoalStatus& status, const Result& result);

      void publishFeedback(const actionlib_msgs::GoalStatus& status, const Feedback& feedback);

      void cancelCallback(const boost::shared_ptr<const actionlib_msgs::GoalID>& goal_id);

      void goalCallback(const boost::shared_ptr<const ActionGoal>& goal);

   //   void publishStatus(const ros::TimerEvent& e);

      void goalPortCB();
      void cancelPortCB();

      void publishStatus();

            RTT::TaskContext* node_;

            RTT::InputPort<ActionGoal> goal_sub_;
            RTT::InputPort<actionlib_msgs::GoalID> cancel_sub_;

            RTT::OutputPort<actionlib_msgs::GoalStatusArray> status_pub_;
        RTT::OutputPort<ActionResult> result_pub_;
            RTT::OutputPort<ActionFeedback> feedback_pub_;

      boost::recursive_mutex lock_;

  //    ros::Timer status_timer_;

      std::list<StatusTracker<ActionSpec> > status_list_;

      boost::function<void (GoalHandle)> goal_callback_;
      boost::function<void (GoalHandle)> cancel_callback_;

      ros::Time last_cancel_;
      ros::Duration status_list_timeout_;

        //RTT::os::TimeService::nsecs last_cancel_;     
        //RTT::os::TimeService::nsecs status_list_timeout_;

      //we need to allow access to our private fields to our helper classes
      friend class ServerGoalHandle<ActionSpec>;
      friend class HandleTrackerDeleter<ActionSpec>;

      GoalIDGenerator id_generator_;
      bool started_;
      boost::shared_ptr<DestructionGuard> guard_;
  };
};

//include the implementation
#include <oro_action_server_imp.h>
#endif