abstract action base class

Author: bostoncleek

core/include/moveit/task_constructor/action_base.h

@@ -0,0 +1,102 @@
+/*********************************************************************
+ * BSD 3-Clause License
+ *
+ * Copyright (c) 2020 PickNik LLC.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of the copyright holder nor the names of its
+ *    contributors may be used to endorse or promote products derived from
+ *    this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+/* Author: Boston Cleek
+   Desc:   Abstact class for stages using a simple action client.
+*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <actionlib/client/simple_action_client.h>
+
+
+namespace moveit {
+namespace task_constructor {
+
+/**
+* @brief Interface allowing stages to use a simple action client
+* @param ActionSpec - action message (action message name + "ACTION")
+* @details Some stages may require an action client. This class wraps the
+*          simple client action interface and exposes event based execution callbacks.
+*/
+template<class ActionSpec>
+class ActionBase
+{
+private:
+  ACTION_DEFINITION(ActionSpec);
+
+public:
+  /**
+  * @brief Constructor
+  * @param name - action name
+  * @param server_timeout - connection to server time out (0 is considered infinite timeout)
+  * @param goal_timeout - goal to completed time out (0 is considered infinite timeout)
+  * @param spin_thread - spins a thread to service this action's subscriptions
+  * @details Initialize the action client and time out parameters
+  */
+  ActionBase(const std::string &name,
+             double server_timeout = 0.0,
+             double goal_timeout = 0.0,
+             bool spin_thread = true);
+
+  /* @brief Destructor */
+  virtual ~ActionBase() = default;
+
+  /* @brief Called when goal becomes active */
+  virtual void activeCallback() = 0;
+
+  /**
+  * @brief Called every time feedback is received for the goal
+  * @param feedback - pointer to the feedback message
+  */
+  virtual void feedbackCallback(const FeedbackConstPtr &feedback) = 0;
+
+  /**
+  * @brief Called once when the goal completes
+  * @param state - state info for goal
+  * @param result - pointer to result message
+  */
+  virtual void doneCallback(const actionlib::SimpleClientGoalState& state,
+                            const ActionResultConstPtr &result) = 0;
+
+protected:
+ std::unique_ptr<actionlib::SimpleActionClient<ActionSpec>> clientPtr_;   // action client
+ ActionGoal goal_;                                                        // goal message
+ double server_timeout_, goal_timeout_;                                   // connection and goal completed time out
+};
+
+
+} // namespace task_constructor
+} // namespace moveit

core/src/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_library(${PROJECT_NAME}
+	${PROJECT_INCLUDE}/action_base.h
 	${PROJECT_INCLUDE}/container.h
 	${PROJECT_INCLUDE}/container_p.h
 	${PROJECT_INCLUDE}/cost_queue.h