Line data    Source code

       1             : /*
       2             :  * Copyright 2020 <copyright holder> <email>
       3             :  *
       4             :  * Licensed under the Apache License, Version 2.0 (the "License");
       5             :  * you may not use this file except in compliance with the License.
       6             :  * You may obtain a copy of the License at
       7             :  *
       8             :  *     http://www.apache.org/licenses/LICENSE-2.0
       9             :  *
      10             :  * Unless required by applicable law or agreed to in writing, software
      11             :  * distributed under the License is distributed on an "AS IS" BASIS,
      12             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      13             :  * See the License for the specific language governing permissions and
      14             :  * limitations under the License.
      15             :  */
      16             : 
      17             : #ifndef ROSACTIONSERVER_H
      18             : #define ROSACTIONSERVER_H
      19             : 
      20             : #include <string>
      21             : #include <ros/ros.h>
      22             : #include <ros/console.h>
      23             : #include <actionlib/server/simple_action_server.h>
      24             : #include <rosee_msg/ROSEECommandAction.h>
      25             : 
      26             : #define DEFAULT_ERROR_NORM 0.01
      27             : 
      28             : namespace ROSEE {
      29             : /**
      30             :  * @todo write docs
      31             :  */
      32             : class RosActionServer {
      33             :     
      34             : public:
      35             :     RosActionServer(std::string topicForAction, ros::NodeHandle *nh);
      36          41 :     ~RosActionServer() {};
      37             :     
      38             :     rosee_msg::ROSEEActionControl getGoal();
      39             :     bool hasGoal() const;
      40             :     bool hasNewGoal() const;
      41             :     
      42             :     /**
      43             :      * @brief in message there is a field where norm error of joint position can be set
      44             :      *   If it is not present in the message sent (thus it is 0) the DEFAULT_ERROR_NORM is used
      45             :      */
      46             :     double getWantedNormError() const;
      47             : 
      48             :     /** 
      49             :      * @brief send Feedback to the client who has requested the goal.
      50             :      * 
      51             :      * @param completation_percentage the percentae that tells how much we have completed 
      52             :      * the action requested
      53             :      * @param currentAction current action that is running. If it is empty, it is taken the name
      54             :      *    of the action from member \ref actionControlMsg . You should passed not empty string when
      55             :      *    dealing with timed action (passing the inner action of the timed one)
      56             :      */
      57             :     void sendFeedback(double completation_percentage, std::string currentAction) ;
      58             :     void sendComplete () ;
      59             :     void abortGoal(std::string errorMsg = "");
      60             : 
      61             :     
      62             : protected:
      63             :     ros::NodeHandle* nh;
      64             :     std::string topicForAction;
      65             :     actionlib::SimpleActionServer <rosee_msg::ROSEECommandAction> _actionServer;
      66             :     rosee_msg::ROSEEActionControl actionControlMsg;
      67             :     bool goalInExecution;
      68             :     bool newGoal;
      69             :     double wantedNormError;
      70             :     
      71             :     void goalReceivedCallback ();
      72             :     void preemptReceivedCallback ();
      73             : 
      74             : 
      75             : };
      76             : 
      77             : }
      78             : 
      79             : #endif // ROSACTIONSERVER_H