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Ernesto Corbellini
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Jan 14, 2016
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/** | ||
* Client implementation for actionlib. | ||
* This class encapsulates the communication with an actionlib server. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public class ActionClient<T_ACTION_GOAL extends Message, | ||
T_ACTION_FEEDBACK extends Message, | ||
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@@ -24,7 +24,7 @@ | |
* Listener interface to receive the incoming messages from the ActionLib server. | ||
* A client should implement this interface if it wants to receive the callbacks | ||
* with information from the server. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public interface ActionClientListener<T_ACTION_FEEDBACK extends Message, | ||
T_ACTION_RESULT extends Message> { | ||
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/** | ||
* Class to encapsulate the actiolib server's communication and goal management. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public class ActionServer<T_ACTION_GOAL extends Message, | ||
T_ACTION_FEEDBACK extends Message, | ||
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@@ -24,7 +24,7 @@ | |
* Listener interface to receive the incoming messages from the ActionLib client. | ||
* A server should implement this interface if it wants to receive the callbacks | ||
* with information from the client. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public interface ActionServerListener<T_ACTION_GOAL extends Message> { | ||
/** | ||
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@@ -24,7 +24,7 @@ | |
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/** | ||
* State machine for the action client. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
* Comments: | ||
* - The state returned on a transition is actually a vector of states that should be transitioned in sequence. | ||
* TODO: change class name to ClientStateMachine | ||
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@@ -79,7 +79,6 @@ public synchronized int getState() { | |
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/** | ||
* Update the state of the client based on the current state and the goal state. | ||
* Note: This method uses a mutex in the original implementation so we make it synchronized. | ||
*/ | ||
public synchronized void updateStatus(int status) | ||
{ | ||
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/* | ||
* Class to manage the server state machine transitions. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public class ServerStateMachine { | ||
public static class Events { | ||
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/** | ||
* Class to test the actionlib client. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public class TestClient extends AbstractNodeMain implements ActionClientListener<FibonacciActionFeedback, FibonacciActionResult> { | ||
private ActionClient ac = null; | ||
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/** | ||
* Class to test the actionlib server. | ||
* @author Ernesto Corbellini <[email protected]> | ||
* @author Ernesto Corbellini [email protected] | ||
*/ | ||
public class TestServer extends AbstractNodeMain implements ActionServerListener<FibonacciActionGoal> { | ||
private ActionServer<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult> as = null; | ||
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