/**
* \brief Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded
*
* If the goal doesn't complete by the execute_timeout, then a preempt message is sent. This call
* then waits up to the preempt_timeout for the goal to then finish.
*
* \param goal The goal to be sent to the ActionServer
* \param execute_timeout Time to wait until a preempt is sent. 0 implies wait forever
* \param preempt_timeout Time to wait after a preempt is sent. 0 implies wait forever
* \return The state of the goal when this call is completed
*/
public SimpleClientGoalState sendGoalAndWait(AGoal goal, Duration execute_timeout, Duration preempt_timeout)
{
sendGoal(goal);
// See if the goal finishes in time
if (waitForResult(execute_timeout))
{
ROS.Debug("actionlib", "Goal finished within specified execute_timeout [%.2f]", execute_timeout.toSec());
return(getState());
}
ROS.Debug("actionlib", "Goal didn't finish within specified execute_timeout [%.2f]", execute_timeout.toSec());
// It didn't finish in time, so we need to preempt it
cancelGoal();
// Now wait again and see if it finishes
if (waitForResult(preempt_timeout))
{
ROS.Debug("actionlib", "Preempt finished within specified preempt_timeout [%.2f]", preempt_timeout.toSec());
}
else
{
ROS.Debug("actionlib", "Preempt didn't finish specified preempt_timeout [%.2f]", preempt_timeout.toSec());
}
return(getState());
}
/**
* \brief Sends a goal to the ActionServer, and also registers callbacks
*
* If a previous goal is already active when this is called. We simply forget
* about that goal and start tracking the new goal. No cancel requests are made.
* \param done_cb Callback that gets called on transitions to Done
* \param active_cb Callback that gets called on transitions to Active
* \param feedback_cb Callback that gets called whenever feedback for this goal is received
*/
public void sendGoal(AGoal goal, SimpleDoneCallback done_cb = null, SimpleActiveCallback active_cb = null, SimpleFeedbackCallback feedback_cb = null)
{
// Reset the old GoalHandle, so that our callbacks won't get called anymore
goalHandle.reset();
// Store all the callbacks
doneCallback = done_cb;
activeCallback = active_cb;
feedbackCallback = feedback_cb;
goalState = new SimpleGoalState(SimpleGoalState.StateEnum.PENDING);
// Send the goal to the ActionServer
goalHandle = actionClient.sendGoal(goal, handleTransition, handleFeedback);
}
