/**
* \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);
}
}
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;
}
/**
* \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);
}
void SendGoalFunc(AActionGoal actionGoal)
{
goalPublisher.publish(new ActionGoalDecorator(actionGoal));
}
public ActionGoalDecorator(AActionGoal ag)
{
_actionGoal = ag;
}
