Example #1
0
        /**
         * \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);
            }
        }
Example #2
0
 public CommStateMachine(AActionGoal actionGoal, TransitionCallback <ActionSpec> transitionCallback, FeedbackCallback <ActionSpec> feedbackCallback)
 {
     UnityEngine.Debug.Assert(actionGoal != null);
     this.actionGoal         = actionGoal;
     this.transitionCallback = transitionCallback;
     this.feedbackCallback   = feedbackCallback;
     state = CommState.StateEnum.WAITING_FOR_GOAL_ACK;
 }
Example #3
0
        /**
         * \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);
        }
Example #4
0
 void SendGoalFunc(AActionGoal actionGoal)
 {
     goalPublisher.publish(new ActionGoalDecorator(actionGoal));
 }
 public ActionGoalDecorator(AActionGoal ag)
 {
     _actionGoal = ag;
 }