From 067f0ed5fdd857b7f2bd8e78cf3497ca5bbc3ddf Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Fri, 8 Jul 2011 09:51:01 +0000
Subject: [PATCH] [tibi_dabo_hri_node] - adding vector to manage all sequence
action clients. Currently only using leds. - fisrt implementation of
cancelCurrentGoals
[hrengagement_node]
- uppdating ACTION_CLIENTS
[iri_action_server]
- adding shutdown() and isStarted() to public API
---
include/iri_action_server/iri_action_server.h | 39 ++++++++++++++++++-
1 file changed, 38 insertions(+), 1 deletion(-)
diff --git a/include/iri_action_server/iri_action_server.h b/include/iri_action_server/iri_action_server.h
index 1afc01c..1123793 100755
--- a/include/iri_action_server/iri_action_server.h
+++ b/include/iri_action_server/iri_action_server.h
@@ -185,6 +185,14 @@ class IriActionServer
*/
ros::Rate loop_rate_;
+ /**
+ * \brief Is Started
+ *
+ * This variable is set to true when start() is called and to false when
+ * calling shutdown().
+ */
+ bool is_started;
+
public:
/**
* \brief Constructor
@@ -213,6 +221,20 @@ class IriActionServer
*/
void start(void);
+ /**
+ * \brief Server has been started?
+ *
+ * This function returns true if start() has been previously called.
+ */
+ bool isStarted(void) const;
+
+ /**
+ * \brief Stop Action
+ *
+ * Calls the ROS simple action server to shutdown the current action
+ */
+ void shutdown(void);
+
/**
* \brief Abort Action
*
@@ -299,7 +321,8 @@ template <class ActionSpec>
IriActionServer<ActionSpec>::IriActionServer(ros::NodeHandle & nh, const std::string & aname) :
action_name_(aname),
as_(nh, action_name_, boost::bind(&IriActionServer<ActionSpec>::executeCallback, this, _1), false),
- loop_rate_(10)
+ loop_rate_(10),
+ is_started(false)
{
ROS_DEBUG("IriActionServer::Constructor");
}
@@ -335,11 +358,25 @@ void IriActionServer<ActionSpec>::start(void)
{
// launch action server
as_.start();
+ is_started = true;
}
else
ROS_FATAL("Some Callbacks have not been registered yet!");
}
+template <class ActionSpec>
+bool IriActionServer<ActionSpec>::isStarted(void) const
+{
+ return is_started;
+}
+
+template <class ActionSpec>
+void IriActionServer<ActionSpec>::shutdown(void)
+{
+ as_.shutdown();
+ is_started = false;
+}
+
template <class ActionSpec>
void IriActionServer<ActionSpec>::setAborted(const Result& result, const std::string& text)
{
--
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