99 lines
2.9 KiB
C++
99 lines
2.9 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__CLIENT_HPP_
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#define RCLCPP_ACTION__CLIENT_HPP_
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#include <rosidl_generator_c/action_type_support_struct.h>
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#include <rclcpp/node_interfaces/node_base_interface.hpp>
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#include <rclcpp/time.hpp>
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#include <rosidl_typesupport_cpp/action_type_support.hpp>
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#include <functional>
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#include <memory>
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#include <string>
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#include "rclcpp_action/client_goal_handle.hpp"
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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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// Forward declaration
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class ClientBaseImpl;
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/// Base Action Client implementation
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/// It is responsible for interfacing with the C action client API.
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class ClientBase
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{
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public:
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// TODO(sloretz) NodeLoggingInterface when it can be gotten off a node
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RCLCPP_ACTION_PUBLIC
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ClientBase(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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const std::string & name,
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const rosidl_action_type_support_t * type_support);
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RCLCPP_ACTION_PUBLIC
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virtual ~ClientBase();
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// TODO(sloretz) add a link between this class and callbacks in the templated
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private:
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std::unique_ptr<ClientBaseImpl> pimpl_;
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};
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/// Templated Action Client class
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/// It is responsible for getting the C action type support struct from the C++ type, and
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/// calling user callbacks with goal handles of the appropriate type.
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template<typename ACTION>
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class Client : public ClientBase
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Client)
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using FeedbackCallback = std::function<void (
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std::shared_ptr<ClientGoalHandle<ACTION>>, const typename ACTION::Feedback)>;
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Client(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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const std::string & name
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)
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: ClientBase(
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node_base,
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name,
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rosidl_typesupport_cpp::get_action_type_support_handle<ACTION>())
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{
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// TODO(sloretz) what's the link that causes a feedback topic to be called ?
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}
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ClientGoalHandle<ACTION>
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async_send_goal(typename ACTION::Goal * goal, FeedbackCallback callback = nullptr);
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RCLCPP_ACTION_PUBLIC
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std::future<typename ACTION::CancelGoalService::Response>
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async_cancel_all_goals();
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RCLCPP_ACTION_PUBLIC
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std::future<typename ACTION::CancelGoalService::Response>
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async_cancel_goals_before(rclcpp::Time);
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virtual ~Client()
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{
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}
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};
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} // namespace rclcpp_action
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#endif // RCLCPP_ACTION__CLIENT_HPP_
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