/usr/include/actionlib/client/client_helpers.h is in libactionlib-dev 1.11.12-1.
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#ifndef ACTIONLIB__CLIENT__CLIENT_HELPERS_H_
#define ACTIONLIB__CLIENT__CLIENT_HELPERS_H_
#include <boost/thread/recursive_mutex.hpp>
#include <boost/interprocess/sync/scoped_lock.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <vector>
#include "actionlib/action_definition.h"
#include "actionlib/managed_list.h"
#include "actionlib/enclosure_deleter.h"
#include "actionlib/goal_id_generator.h"
#include "actionlib/client/comm_state.h"
#include "actionlib/client/terminal_state.h"
#include "actionlib/destruction_guard.h"
// msgs
#include "actionlib_msgs/GoalID.h"
#include "actionlib_msgs/GoalStatusArray.h"
namespace actionlib
{
template<class ActionSpec>
class ClientGoalHandle;
template<class ActionSpec>
class CommStateMachine;
template<class ActionSpec>
class GoalManager
{
public:
ACTION_DEFINITION(ActionSpec);
typedef GoalManager<ActionSpec> GoalManagerT;
typedef ClientGoalHandle<ActionSpec> GoalHandleT;
typedef boost::function<void (GoalHandleT)> TransitionCallback;
typedef boost::function<void (GoalHandleT, const FeedbackConstPtr &)> FeedbackCallback;
typedef boost::function<void (const ActionGoalConstPtr)> SendGoalFunc;
typedef boost::function<void (const actionlib_msgs::GoalID &)> CancelFunc;
GoalManager(const boost::shared_ptr<DestructionGuard> & guard)
: guard_(guard) {}
void registerSendGoalFunc(SendGoalFunc send_goal_func);
void registerCancelFunc(CancelFunc cancel_func);
GoalHandleT initGoal(const Goal & goal,
TransitionCallback transition_cb = TransitionCallback(),
FeedbackCallback feedback_cb = FeedbackCallback() );
void updateStatuses(const actionlib_msgs::GoalStatusArrayConstPtr & status_array);
void updateFeedbacks(const ActionFeedbackConstPtr & action_feedback);
void updateResults(const ActionResultConstPtr & action_result);
friend class ClientGoalHandle<ActionSpec>;
// should be private
typedef ManagedList<boost::shared_ptr<CommStateMachine<ActionSpec> > > ManagedListT;
ManagedListT list_;
private:
SendGoalFunc send_goal_func_;
CancelFunc cancel_func_;
boost::shared_ptr<DestructionGuard> guard_;
boost::recursive_mutex list_mutex_;
GoalIDGenerator id_generator_;
void listElemDeleter(typename ManagedListT::iterator it);
};
/**
* \brief Client side handle to monitor goal progress
*
* A ClientGoalHandle is a reference counted object that is used to manipulate and monitor the progress
* of an already dispatched goal. Once all the goal handles go out of scope (or are reset), an
* ActionClient stops maintaining state for that goal.
*/
template<class ActionSpec>
class ClientGoalHandle
{
private:
ACTION_DEFINITION(ActionSpec);
public:
/**
* \brief Create an empty goal handle
*
* Constructs a goal handle that doesn't track any goal. Calling any method on an empty goal
* handle other than operator= will trigger an assertion.
*/
ClientGoalHandle();
~ClientGoalHandle();
/**
* \brief Stops goal handle from tracking a goal
*
* Useful if you want to stop tracking the progress of a goal, but it is inconvenient to force
* the goal handle to go out of scope. Has pretty much the same semantics as boost::shared_ptr::reset()
*/
void reset();
/**
* \brief Checks if this goal handle is tracking a goal
*
* Has pretty much the same semantics as boost::shared_ptr::expired()
* \return True if this goal handle is not tracking a goal
*/
inline bool isExpired() const;
/**
* \brief Get the state of this goal's communication state machine from interaction with the server
*
* Possible States are: WAITING_FOR_GOAL_ACK, PENDING, ACTIVE, WAITING_FOR_RESULT,
* WAITING_FOR_CANCEL_ACK, RECALLING, PREEMPTING, DONE
* \return The current goal's communication state with the server
*/
CommState getCommState() const;
/**
* \brief Get the terminal state information for this goal
*
* Possible States Are: RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, LOST
* This call only makes sense if CommState==DONE. This will send ROS_WARNs if we're not in DONE
* \return The terminal state
*/
TerminalState getTerminalState() const;
/**
* \brief Get result associated with this goal
*
* \return NULL if no reseult received. Otherwise returns shared_ptr to result.
*/
ResultConstPtr getResult() const;
/**
* \brief Resends this goal [with the same GoalID] to the ActionServer
*
* Useful if the user thinks that the goal may have gotten lost in transit
*/
void resend();
/**
* \brief Sends a cancel message for this specific goal to the ActionServer
*
* Also transitions the Communication State Machine to WAITING_FOR_CANCEL_ACK
*/
void cancel();
/**
* \brief Check if two goal handles point to the same goal
* \return TRUE if both point to the same goal. Also returns TRUE if both handles are inactive.
*/
bool operator==(const ClientGoalHandle<ActionSpec> & rhs) const;
/**
* \brief !(operator==())
*/
bool operator!=(const ClientGoalHandle<ActionSpec> & rhs) const;
friend class GoalManager<ActionSpec>;
private:
typedef GoalManager<ActionSpec> GoalManagerT;
typedef ManagedList<boost::shared_ptr<CommStateMachine<ActionSpec> > > ManagedListT;
ClientGoalHandle(GoalManagerT * gm, typename ManagedListT::Handle handle,
const boost::shared_ptr<DestructionGuard> & guard);
GoalManagerT * gm_;
bool active_;
// typename ManagedListT::iterator it_;
boost::shared_ptr<DestructionGuard> guard_; // Guard must still exist when the list_handle_ is destroyed
typename ManagedListT::Handle list_handle_;
};
template<class ActionSpec>
class CommStateMachine
{
private:
// generates typedefs that we'll use to make our lives easier
ACTION_DEFINITION(ActionSpec);
public:
typedef boost::function<void (const ClientGoalHandle<ActionSpec> &)> TransitionCallback;
typedef boost::function<void (const ClientGoalHandle<ActionSpec> &,
const FeedbackConstPtr &)> FeedbackCallback;
typedef ClientGoalHandle<ActionSpec> GoalHandleT;
CommStateMachine(const ActionGoalConstPtr & action_goal,
TransitionCallback transition_cb,
FeedbackCallback feedback_cb);
ActionGoalConstPtr getActionGoal() const;
CommState getCommState() const;
actionlib_msgs::GoalStatus getGoalStatus() const;
ResultConstPtr getResult() const;
// Transitions caused by messages
void updateStatus(GoalHandleT & gh, const actionlib_msgs::GoalStatusArrayConstPtr & status_array);
void updateFeedback(GoalHandleT & gh, const ActionFeedbackConstPtr & action_feedback);
void updateResult(GoalHandleT & gh, const ActionResultConstPtr & action_result);
// Forced transitions
void transitionToState(GoalHandleT & gh, const CommState::StateEnum & next_state);
void transitionToState(GoalHandleT & gh, const CommState & next_state);
void processLost(GoalHandleT & gh);
private:
CommStateMachine();
// State
CommState state_;
ActionGoalConstPtr action_goal_;
actionlib_msgs::GoalStatus latest_goal_status_;
ActionResultConstPtr latest_result_;
// Callbacks
TransitionCallback transition_cb_;
FeedbackCallback feedback_cb_;
// **** Implementation ****
//! Change the state, as well as print out ROS_DEBUG info
void setCommState(const CommState & state);
void setCommState(const CommState::StateEnum & state);
const actionlib_msgs::GoalStatus * findGoalStatus(
const std::vector<actionlib_msgs::GoalStatus> & status_vec) const;
};
} // namespace actionlib
#include "actionlib/client/goal_manager_imp.h"
#include "actionlib/client/client_goal_handle_imp.h"
#include "actionlib/client/comm_state_machine_imp.h"
#endif // ACTIONLIB__CLIENT__CLIENT_HELPERS_H_
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