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| Original file line number | Diff line number | Diff line change |
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| @@ -1 +1,3 @@ | ||
| CMakeLists.txt.user* | ||
| /ros_lib | ||
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| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2017, Robopec | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote prducts derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef ROS_ACTION_CLIENT_H_ | ||
| #define ROS_ACTION_CLIENT_H_ | ||
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|
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| #include <functional> | ||
| #include <string> | ||
| #include "rosserial_msgs/TopicInfo.h" | ||
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| #include "ros/publisher.h" | ||
| #include "ros/subscriber.h" | ||
| #include "../actionlib_msgs/GoalID.h" | ||
| #include "../actionlib_msgs/GoalStatusArray.h" | ||
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|
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| namespace ros { | ||
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| #define ACTION_DEFINITION(ActionSpec) \ | ||
| typedef typename ActionSpec::_action_goal_type ActionGoal; \ | ||
| typedef typename ActionGoal::_goal_type Goal; \ | ||
| typedef typename ActionSpec::_action_result_type ActionResult; \ | ||
| typedef typename ActionResult::_result_type Result; \ | ||
| typedef typename ActionSpec::_action_feedback_type ActionFeedback; \ | ||
| typedef typename ActionFeedback::_feedback_type Feedback; | ||
|
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| template<typename ActionType> | ||
| class ActionClient { | ||
| ACTION_DEFINITION(ActionType) | ||
| public: | ||
| typedef std::function<void(const Feedback&)> FeedbackCallbackT; | ||
| typedef std::function<void(const Result&)> ResultCallbackT; | ||
| typedef std::function<void(uint8_t)> StateChangedCallbackT; | ||
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| enum StateEnum | ||
| { | ||
| PENDING, | ||
| ACTIVE, | ||
| PREEMPTED, | ||
| SUCCEEDED, | ||
| ABORTED, | ||
| REJECTED, | ||
| PREEMPTING, | ||
| RECALLING, | ||
| RECALLED, | ||
| LOST, | ||
| INACTIVE | ||
| }; | ||
|
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| ActionClient(const std::string& action_name) : | ||
| goal_pub(action_name + "/goal"), | ||
| cancel_pub(action_name + "/cancel"), | ||
| status_sub(action_name + "/status", std::bind(&ActionClient::status_cb_internal, this, std::placeholders::_1)), | ||
| feedback_sub(action_name + "/feedback", std::bind(&ActionClient::feedback_cb_internal, this, std::placeholders::_1)), | ||
| result_sub(action_name + "/result", std::bind(&ActionClient::result_cb_internal, this, std::placeholders::_1)) | ||
| { | ||
| resetState(); | ||
| } | ||
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| void sendGoal(const Goal& goal, FeedbackCallbackT feedback_cb = FeedbackCallbackT(), ResultCallbackT result_cb = ResultCallbackT()) | ||
| { | ||
| if(!goal_pub.nh_->connected()) return; | ||
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| feedback_cb_ = feedback_cb; | ||
| result_cb_ = result_cb; | ||
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| ActionGoal action_goal_msg; | ||
| // no goal id and stamp -> will be generated by the action server | ||
| // see: http://wiki.ros.org/actionlib/DetailedDescription | ||
| action_goal_msg.goal = goal; | ||
| goal_pub.publish(action_goal_msg); | ||
| } | ||
|
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| void cancelGoal() | ||
| { | ||
| actionlib_msgs::GoalID msg; | ||
| // no goal id and stamp -> cancel all goals | ||
| // see: http://wiki.ros.org/actionlib/DetailedDescription | ||
| cancel_pub.publish(msg); | ||
| } | ||
|
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| void registerStateCallback(StateChangedCallbackT state_cb) | ||
| { | ||
| state_cb_ = state_cb; | ||
| resetState(); | ||
| } | ||
|
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| void unregisterStateCallback() | ||
| { | ||
| state_cb_ = StateChangedCallbackT(); | ||
| } | ||
|
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| uint8_t getState() const | ||
| { | ||
| return status_.status; | ||
| } | ||
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| std::string getStateText() const | ||
| { | ||
| return status_.text; | ||
| } | ||
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| private: | ||
| void status_cb_internal(const actionlib_msgs::GoalStatusArray& msg) | ||
| { | ||
| if(!msg.status_list.empty()) | ||
| { | ||
| if(state_cb_ && (msg.status_list.back().status != status_.status)) | ||
| { | ||
| state_cb_(msg.status_list.back().status); | ||
| } | ||
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| status_ = msg.status_list.back(); | ||
| } | ||
| else | ||
| { | ||
| resetState(); | ||
| } | ||
| } | ||
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| void feedback_cb_internal(const ActionFeedback& msg) | ||
| { | ||
| if(feedback_cb_) | ||
| { | ||
| feedback_cb_(msg.feedback); | ||
| } | ||
| } | ||
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| void result_cb_internal(const ActionResult& msg) | ||
| { | ||
| if(result_cb_) | ||
| { | ||
| result_cb_(msg.result); | ||
| } | ||
| } | ||
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| void resetState() | ||
| { | ||
| status_.goal_id = actionlib_msgs::GoalID(); | ||
| status_.text = "inactive"; | ||
| status_.status = INACTIVE; | ||
| } | ||
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| FeedbackCallbackT feedback_cb_; | ||
| ResultCallbackT result_cb_; | ||
| StateChangedCallbackT state_cb_; | ||
| size_t goal_count_= 0; | ||
| actionlib_msgs::GoalStatus status_; | ||
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| public: | ||
| Publisher<ActionGoal> goal_pub; | ||
| Publisher<actionlib_msgs::GoalID> cancel_pub; | ||
| Subscriber<actionlib_msgs::GoalStatusArray> status_sub; | ||
| Subscriber<ActionFeedback> feedback_sub; | ||
| Subscriber<ActionResult> result_sub; | ||
| }; | ||
|
|
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| } | ||
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| #endif // ROS_ACTION_CLIENT_H_ |
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