connection_monitor.h

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#ifndef ACTIONLIB__CLIENT__CONNECTION_MONITOR_H_
#define ACTIONLIB__CLIENT__CONNECTION_MONITOR_H_
 
#include <ros/ros.h>
#include <actionlib_msgs/GoalStatusArray.h>
 
#include <actionlib/decl.h>
 
#include <boost/thread/condition.hpp>
#include <boost/thread/recursive_mutex.hpp>
 
#include <set>
#include <string>
#include <map>
 
namespace actionlib
{
 
class ACTIONLIB_DECL ConnectionMonitor
{
public:
  ConnectionMonitor(ros::Subscriber & feedback_sub, ros::Subscriber & result_sub);
 
  void goalConnectCallback(const ros::SingleSubscriberPublisher & pub);
 
  void goalDisconnectCallback(const ros::SingleSubscriberPublisher & pub);
 
  void cancelConnectCallback(const ros::SingleSubscriberPublisher & pub);
 
  void cancelDisconnectCallback(const ros::SingleSubscriberPublisher & pub);
 
  void processStatus(const actionlib_msgs::GoalStatusArrayConstPtr & status,
    const std::string & cur_status_caller_id);
 
  bool waitForActionServerToStart(const ros::Duration & timeout = ros::Duration(0, 0),
    const ros::NodeHandle & nh = ros::NodeHandle() );
  bool isServerConnected();
 
private:
  // status stuff
  std::string status_caller_id_;
  bool status_received_;
  ros::Time latest_status_time_;
 
  boost::condition check_connection_condition_;
 
  boost::recursive_mutex data_mutex_;
  std::map<std::string, size_t> goalSubscribers_;
  std::map<std::string, size_t> cancelSubscribers_;
 
  std::string goalSubscribersString();
  std::string cancelSubscribersString();
 
  ros::Subscriber & feedback_sub_;
  ros::Subscriber & result_sub_;
};
 
}  // namespace actionlib
 
#endif  // ACTIONLIB__CLIENT__CONNECTION_MONITOR_H_