diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java index 0fb4546e00c82c4b4f71fb63c211ff0888ad4d41..2d832e1677e1df2700aa45b1c54318ffa3b42e69 100644 --- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java @@ -43,6 +43,7 @@ public class ActionClient<T_ACTION_GOAL extends Message, T_ACTION_RESULT extends Message> extends DefaultSubscriberListener { T_ACTION_GOAL actionGoal; + ClientGoalManager goalManager; String actionGoalType; String actionResultType; String actionFeedbackType; @@ -82,6 +83,7 @@ public class ActionClient<T_ACTION_GOAL extends Message, this.actionResultType = actionResultType; goalIdGenerator = new GoalIDGenerator(node); connect(node); + goalManager = new ClientGoalManager(); } public void attachListener(ActionClientListener target) { diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java new file mode 100644 index 0000000000000000000000000000000000000000..c8be6c532515acd0e01b321757acc18c3af995dc --- /dev/null +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java @@ -0,0 +1,39 @@ +/** + * Copyright 2015 Ekumen www.ekumenlabs.com + * + * 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. + */ + +package com.github.ekumen.rosjava_actionlib; + +import actionlib_msgs.GoalID; +import actionlib_msgs.GoalStatus; + +/** + * Class that binds and action goal with a state machine to track its state. + * @author Ernesto Corbellini ecorbellini@ekumenlabs.com + */ +public class ClientGoalManager<T_ACTION_GOAL extends Message> { + public ActionGoal<T_ACTION_GOAL> actionGoal = null; + public ClientStateMachine stateMachine = null; + + public void sendGoal(ActionGoal<T_ACTION_GOAL> ag) { + actionGoal = ag; + stateMachine = new ClientStateMachine(); + stateMachine.setState(ClientStateMachine.ClientStates.WAITING_FOR_GOAL_ACK); + } + + public boolean cancelGoal() { + return stateMachine.cancelGoal(); + } +}