55 lines
1.7 KiB
C++
55 lines
1.7 KiB
C++
// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_ACTION__SERVER_GOAL_HANDLE_HPP_
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#define RCLCPP_ACTION__SERVER_GOAL_HANDLE_HPP_
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#include <rcl_action/goal_handle.h>
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#include <functional>
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#include <memory>
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#include "rclcpp_action/visibility_control.hpp"
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namespace rclcpp_action
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{
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template<typename ACTION>
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class ServerGoalHandle
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{
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public:
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virtual ~ServerGoalHandle();
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/// Indicate if client has requested this goal be cancelled.
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/// \return true if a cancelation request has been accepted for this goal.
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virtual bool
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is_cancel_request() const = 0;
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/// Send an update about the progress of a goal.
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virtual void
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publish_feedback(const typename ACTION::Feedback * feedback_msg) = 0;
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// TODO(sloretz) `set_cancelled`, `set_succeeded`, `set_aborted`
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// TODO(sloretz) examples has this attribute as 'goal'
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/// The original request message describing the goal.
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const typename ACTION::Goal goal_;
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protected:
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explicit ServerGoalHandle(const typename ACTION::Goal goal)
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: goal_(goal) {}
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};
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} // namespace rclcpp_action
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#include <rclcpp_action/server_goal_handle_impl.hpp> // NOLINT(build/include_order)
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#endif // RCLCPP_ACTION__SERVER_GOAL_HANDLE_HPP_
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