RosActionServer.h

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/*
 * Copyright 2020 <copyright holder> <email>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ROSACTIONSERVER_H
#define ROSACTIONSERVER_H

#include <string>
#include <ros/ros.h>
#include <ros/console.h>
#include <actionlib/server/simple_action_server.h>
#include <rosee_msg/ROSEECommandAction.h>

#define DEFAULT_ERROR_NORM 0.01

namespace ROSEE {
class RosActionServer {
    
public:
    RosActionServer(std::string topicForAction, ros::NodeHandle *nh);
    ~RosActionServer() {};
    
    rosee_msg::ROSEEActionControl getGoal();
    bool hasGoal() const;
    bool hasNewGoal() const;
    
    double getWantedNormError() const;

    void sendFeedback(double completation_percentage, std::string currentAction) ;
    void sendComplete () ;
    void abortGoal(std::string errorMsg = "");

    
protected:
    ros::NodeHandle* nh;
    std::string topicForAction;
    actionlib::SimpleActionServer <rosee_msg::ROSEECommandAction> _actionServer;
    rosee_msg::ROSEEActionControl actionControlMsg;
    bool goalInExecution;
    bool newGoal;
    double wantedNormError;
    
    void goalReceivedCallback ();
    void preemptReceivedCallback ();


};

}

#endif // ROSACTIONSERVER_H