ref_server.cpp

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#include <actionlib/server/action_server.h>
#include <actionlib/TestAction.h>
#include <ros/ros.h>
#include <cstdio>
#include <string>
 
namespace actionlib
{
 
class RefServer : public ActionServer<TestAction>
{
public:
  typedef ServerGoalHandle<TestAction> GoalHandle;
 
  RefServer(ros::NodeHandle & n, const std::string & name);
 
private:
  void goalCallback(GoalHandle gh);
  void cancelCallback(GoalHandle gh);
};
 
}  // namespace actionlib
 
using namespace actionlib;
 
RefServer::RefServer(ros::NodeHandle & n, const std::string & name)
: ActionServer<TestAction>(n, name,
    boost::bind(&RefServer::goalCallback, this, boost::placeholders::_1),
    boost::bind(&RefServer::cancelCallback, this, boost::placeholders::_1),
    false)
{
  start();
  printf("Creating ActionServer [%s]\n", name.c_str());
}
 
void RefServer::goalCallback(GoalHandle gh)
{
  TestGoal goal = *gh.getGoal();
 
  switch (goal.goal) {
    case 1:
      gh.setAccepted();
      gh.setSucceeded(TestResult(), "The ref server has succeeded");
      break;
    case 2:
      gh.setAccepted();
      gh.setAborted(TestResult(), "The ref server has aborted");
      break;
    case 3:
      gh.setRejected(TestResult(), "The ref server has rejected");
      break;
    default:
      break;
  }
}
 
void RefServer::cancelCallback(GoalHandle)
{
}
 
 
int main(int argc, char ** argv)
{
  ros::init(argc, argv, "ref_server");
 
  ros::NodeHandle nh;
 
  RefServer ref_server(nh, "reference_action");
 
  ros::spin();
}