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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* 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 the Willow Garage nor the names of its
* contributors may be used to endorse or promote products 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.
*********************************************************************/
//! \author Vijay Pradeep
#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();
}
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