From 91382ede50926dcc21a2d04aab90665e25a435c7 Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbellini@ekumenlabs.com>
Date: Mon, 18 Jan 2016 18:37:25 -0300
Subject: [PATCH] Added the client goal manager.
---
.../rosjava_actionlib/ActionClient.java | 2 +
.../rosjava_actionlib/ClientGoalManager.java | 39 +++++++++++++++++++
2 files changed, 41 insertions(+)
create mode 100644 src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
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 0fb4546..2d832e1 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 0000000..c8be6c5
--- /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();
+ }
+}
--
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