void setSimpleState(SimpleGoalState next_state)
{
ROS.Debug("actionlib", "Transitioning SimpleState from [%s] to [%s]",
goalState.toString(),
next_state.toString());
goalState = next_state;
}
/**
* \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);
}
/**
* \brief Simple constructor
*
* Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface
* \param name The action name. Defines the namespace in which the action communicates
* \param spin_thread If true, spins up a thread to service this action's subscriptions. If false,
* then the user has to call ros.spin() themselves. Defaults to True
*/
public SimpleActionClient(string name, bool spin_thread = true)
{
goalState = new SimpleGoalState(SimpleGoalState.StateEnum.PENDING);
initSimpleClient(nodeHandle, name, spin_thread);
}