connection_monitor.h
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00034 
00035 #ifndef ACTIONLIB__CLIENT__CONNECTION_MONITOR_H_
00036 #define ACTIONLIB__CLIENT__CONNECTION_MONITOR_H_
00037 
00038 #include <ros/ros.h>
00039 #include <actionlib_msgs/GoalStatusArray.h>
00040 
00041 #include <actionlib/decl.h>
00042 
00043 #include <boost/thread/condition.hpp>
00044 #include <boost/thread/recursive_mutex.hpp>
00045 
00046 #include <set>
00047 #include <string>
00048 #include <map>
00049 
00050 namespace actionlib
00051 {
00052 
00053 class ACTIONLIB_DECL ConnectionMonitor
00054 {
00055 public:
00056   ConnectionMonitor(ros::Subscriber & feedback_sub, ros::Subscriber & result_sub);
00057 
00058   void goalConnectCallback(const ros::SingleSubscriberPublisher & pub);
00059 
00060   void goalDisconnectCallback(const ros::SingleSubscriberPublisher & pub);
00061 
00062   void cancelConnectCallback(const ros::SingleSubscriberPublisher & pub);
00063 
00064   void cancelDisconnectCallback(const ros::SingleSubscriberPublisher & pub);
00065 
00066   void processStatus(const actionlib_msgs::GoalStatusArrayConstPtr & status,
00067     const std::string & cur_status_caller_id);
00068 
00069   bool waitForActionServerToStart(const ros::Duration & timeout = ros::Duration(0, 0),
00070     const ros::NodeHandle & nh = ros::NodeHandle() );
00071   bool isServerConnected();
00072 
00073 private:
00074   // status stuff
00075   std::string status_caller_id_;
00076   bool status_received_;
00077   ros::Time latest_status_time_;
00078 
00079   boost::condition check_connection_condition_;
00080 
00081   boost::recursive_mutex data_mutex_;
00082   std::map<std::string, size_t> goalSubscribers_;
00083   std::map<std::string, size_t> cancelSubscribers_;
00084 
00085   std::string goalSubscribersString();
00086   std::string cancelSubscribersString();
00087 
00088   ros::Subscriber & feedback_sub_;
00089   ros::Subscriber & result_sub_;
00090 };
00091 
00092 }  // namespace actionlib
00093 
00094 #endif  // ACTIONLIB__CLIENT__CONNECTION_MONITOR_H_


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Sep 28 2017 02:51:16