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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/simple_action_server.h>
#include <actionlib/TestAction.h>
#include <ros/ros.h>
namespace actionlib
{
class SimpleExecuteRefServer
{
public:
typedef ServerGoalHandle<TestAction> GoalHandle;
SimpleExecuteRefServer();
private:
ros::NodeHandle nh_;
SimpleActionServer<TestAction> as_;
void executeCallback(const TestGoalConstPtr & goal);
};
} // namespace actionlib
using namespace actionlib;
SimpleExecuteRefServer::SimpleExecuteRefServer()
: as_(nh_, "reference_action", boost::bind(&SimpleExecuteRefServer::executeCallback, this,
boost::placeholders::_1), false)
{
as_.start();
}
void SimpleExecuteRefServer::executeCallback(const TestGoalConstPtr & goal)
{
ROS_DEBUG_NAMED("actionlib", "Got a goal of type [%u]", goal->goal);
switch (goal->goal) {
case 1:
ROS_DEBUG_NAMED("actionlib", "Got goal #1");
as_.setSucceeded(TestResult(), "The ref server has succeeded");
break;
case 2:
ROS_DEBUG_NAMED("actionlib", "Got goal #2");
as_.setAborted(TestResult(), "The ref server has aborted");
break;
case 4:
{
ROS_DEBUG_NAMED("actionlib", "Got goal #4");
ros::Duration sleep_dur(.1);
for (unsigned int i = 0; i < 100; i++) {
sleep_dur.sleep();
if (as_.isPreemptRequested()) {
as_.setPreempted();
return;
}
}
as_.setAborted();
break;
}
default:
break;
}
}
int main(int argc, char ** argv)
{
ros::init(argc, argv, "ref_server");
SimpleExecuteRefServer server;
ros::spin();
return 0;
}
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