/**
* \brief Resends this goal [with the same GoalID] to the ActionServer
*
* Useful if the user thinks that the goal may have gotten lost in transit
*/
public void resend()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to resend() on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
}
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this resend() call");
return;
}
UnityEngine.Debug.Assert(goalManager != null);
AActionGoal actionGoal = null;
lock ( lockObject )
{
actionGoal = listHandle.GetElement().getActionGoal();
// actionGoal = listHandle.getElem()->getActionGoal();
}
if (actionGoal == null)
{
ROS.Error("actionlib", "BUG: Got a NULL actionGoal");
}
if (goalManager.sendGoalDelegate != null)
{
goalManager.sendGoalDelegate(actionGoal);
}
}
/**
* \brief Sends a cancel message for this specific goal to the ActionServer
*
* Also transitions the Communication State Machine to WAITING_FOR_CANCEL_ACK
*/
public void cancel()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to cancel() on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
return;
}
UnityEngine.Debug.Assert(goalManager != null);
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this call");
return;
}
lock ( lockObject )
{
switch (listHandle.GetElement().getCommState().state)
{
case CommState.StateEnum.WAITING_FOR_GOAL_ACK:
case CommState.StateEnum.PENDING:
case CommState.StateEnum.ACTIVE:
case CommState.StateEnum.WAITING_FOR_CANCEL_ACK:
break; // Continue standard processing
case CommState.StateEnum.WAITING_FOR_RESULT:
case CommState.StateEnum.RECALLING:
case CommState.StateEnum.PREEMPTING:
case CommState.StateEnum.DONE:
ROS.Debug("actionlib", "Got a cancel() request while in state [%s], so ignoring it", listHandle.GetElement().getCommState().toString());
return;
default:
ROS.Error("actionlib", "BUG: Unhandled CommState: %u", listHandle.GetElement().getCommState().state);
return;
}
}
AActionGoal actionGoal = listHandle.GetElement().getActionGoal();
Messages.actionlib_msgs.GoalID cancelMsg = new Messages.actionlib_msgs.GoalID();
cancelMsg.stamp = ROS.GetTime();
cancelMsg.id = listHandle.GetElement().getActionGoal().GoalID.id;
// cancelMsg.id = listHandle.GetElement ().getActionGoal ()->goal_id.id;
if (goalManager.cancelDelegate != null)
{
goalManager.cancelDelegate(cancelMsg);
}
listHandle.GetElement().transitionToState(this, CommState.StateEnum.WAITING_FOR_CANCEL_ACK);
}
public void listElemDeleter(List <CommStateMachine <ActionSpec> > .Enumerator it)
{
UnityEngine.Debug.Assert(guard != null);
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Not going to try delete the CommStateMachine associated with this goal");
return;
}
ROS.Debug("actionlib", "About to erase CommStateMachine");
lock ( lockObject )
{
list.Remove(it.Current);
}
ROS.Debug("actionlib", "Done erasing CommStateMachine");
}
/**
* \brief Stops goal handle from tracking a goal
*
* Useful if you want to stop tracking the progress of a goal, but it is inconvenient to force
* the goal handle to go out of scope. Has pretty much the same semantics as boost::shared_ptr::reset()
*/
public void reset()
{
if (isActive)
{
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this reset() call");
return;
}
lock ( lockObject )
{
// listHandle.reset(); // not sure what to replace this stuff with
isActive = false;
goalManager = null;
}
}
}
/**
* \brief Check if two goal handles point to the same goal
* \return TRUE if both point to the same goal. Also returns TRUE if both handles are inactive.
*/
public static bool operator ==(ClientGoalHandle <ActionSpec> lhs, ClientGoalHandle <ActionSpec> rhs)
{
if (object.ReferenceEquals(lhs, rhs))
{
return(true);
}
if (!(lhs.isActive && rhs.isActive))
{
return(false);
}
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(lhs.guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this operator==() call");
return(false);
}
return(lhs.listHandle == rhs.listHandle);
}
/**
* \brief Get result associated with this goal
*
* \return NULL if no reseult received. Otherwise returns shared_ptr to result.
*/
public AResult getResult()
// public AActionResult getResult ()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to getResult on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
}
UnityEngine.Debug.Assert(goalManager != null);
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this getResult() call");
return(null);
// return typename ClientGoalHandle<ActionSpec>::ResultConstPtr() ;
}
lock ( lockObject )
{
return(listHandle.GetElement().getResult());
// return listHandle.GetElement ().getResult<TResult> ();
}
}
/**
* \brief Get the state of this goal's communication state machine from interaction with the server
*
* Possible States are: WAITING_FOR_GOAL_ACK, PENDING, ACTIVE, WAITING_FOR_RESULT,
* WAITING_FOR_CANCEL_ACK, RECALLING, PREEMPTING, DONE
* \return The current goal's communication state with the server
*/
public CommState getCommState()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to getCommState on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
return(new CommState(CommState.StateEnum.DONE));
}
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this getCommState() call");
return(new CommState(CommState.StateEnum.DONE));
}
UnityEngine.Debug.Assert(goalManager != null);
lock ( lockObject )
{
return(listHandle.GetElement().getCommState());
// return listHandle.getElem()->getCommState(); // ??
}
}
/**
* \brief Get the terminal state information for this goal
*
* Possible States Are: RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, LOST
* This call only makes sense if CommState==DONE. This will send ROS_WARNs if we're not in DONE
* \return The terminal state
*/
public TerminalState getTerminalState()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to getTerminalState on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
return(new TerminalState(TerminalState.StateEnum.LOST));
}
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this getTerminalState() call");
return(new TerminalState(TerminalState.StateEnum.LOST));
}
UnityEngine.Debug.Assert(goalManager != null);
lock ( lockObject )
{
CommState comm_state = listHandle.GetElement().getCommState();
// CommState comm_state = listHandle.getElem()->getCommState();
if (comm_state != CommState.StateEnum.DONE)
{
ROS.Warn("actionlib", "Asking for the terminal state when we're in [%s]", comm_state.toString());
}
Messages.actionlib_msgs.GoalStatus goal_status = listHandle.GetElement().getGoalStatus();
// Messages.actionlib_msgs.GoalStatus goal_status = listHandle.getElem()->getGoalStatus();
switch (goal_status.status)
{
case gstat.PENDING:
case gstat.ACTIVE:
case gstat.PREEMPTING:
case gstat.RECALLING:
ROS.Error("actionlib", "Asking for terminal state, but latest goal status is %u", goal_status.status);
return(new TerminalState(TerminalState.StateEnum.LOST, goal_status.text));
case gstat.PREEMPTED:
return(new TerminalState(TerminalState.StateEnum.PREEMPTED, goal_status.text));
case gstat.SUCCEEDED:
return(new TerminalState(TerminalState.StateEnum.SUCCEEDED, goal_status.text));
case gstat.ABORTED:
return(new TerminalState(TerminalState.StateEnum.ABORTED, goal_status.text));
case gstat.REJECTED:
return(new TerminalState(TerminalState.StateEnum.REJECTED, goal_status.text));
case gstat.RECALLED:
return(new TerminalState(TerminalState.StateEnum.RECALLED, goal_status.text));
case gstat.LOST:
return(new TerminalState(TerminalState.StateEnum.LOST, goal_status.text));
default:
ROS.Error("actionlib", "Unknown goal status: %u", goal_status.status);
break;
}
ROS.Error("actionlib", "Bug in determining terminal state");
return(new TerminalState(TerminalState.StateEnum.LOST, goal_status.text));
}
}
