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Add feedback sending capability to RealtimeServerGoalHandle. #18

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Add feedback sending capability to RealtimeServerGoalHandle. #18

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be6d89a
Add feedback sending capability to RealtimeServerGoalHandle.
miguelprada Apr 28, 2016
5a41a8d
Check goal status to avoid sending stale feedback if goal is not acti…
miguelprada May 19, 2016
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19 changes: 17 additions & 2 deletions include/realtime_tools/realtime_server_goal_handle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,25 +50,31 @@ class RealtimeServerGoalHandle

typedef actionlib::ServerGoalHandle<Action> GoalHandle;
typedef boost::shared_ptr<Result> ResultPtr;
typedef boost::shared_ptr<Feedback> FeedbackPtr;

uint8_t state_;

bool req_abort_;
bool req_succeed_;
ResultConstPtr req_result_;
FeedbackConstPtr req_feedback_;

public:
GoalHandle gh_;
ResultPtr preallocated_result_; // Preallocated so it can be used in realtime
FeedbackPtr preallocated_feedback_; // Preallocated so it can be used in realtime

RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL))
RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
: req_abort_(false),
req_succeed_(false),
gh_(gh),
preallocated_result_(preallocated_result)
preallocated_result_(preallocated_result),
preallocated_feedback_(preallocated_feedback)
{
if (!preallocated_result_)
preallocated_result_.reset(new Result);
if (!preallocated_feedback_)
preallocated_feedback_.reset(new Feedback);
}

void setAborted(ResultConstPtr result = ResultConstPtr((Result*)NULL))
Expand All @@ -89,6 +95,11 @@ class RealtimeServerGoalHandle
}
}

void setFeedback(FeedbackConstPtr feedback = FeedbackConstPtr((Feedback*)NULL))
{
req_feedback_ = feedback;
}

bool valid()
{
return gh_.getGoal() != NULL;
Expand All @@ -114,6 +125,10 @@ class RealtimeServerGoalHandle
else
gh_.setSucceeded();
}
if (req_feedback_ && gs.status == GoalStatus::ACTIVE)
{
gh_.publishFeedback(*req_feedback_);
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What happens when req_feedback_ is NULL as per the default value of setFeedback(...)?

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According to my test, just nothing gets published.

}
}
}
};
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