Package rjs.arch.actions

Class AbstractClientAction<T_ACTION_GOAL extends org.ros.internal.message.Message,T_ACTION_FEEDBACK extends org.ros.internal.message.Message,T_ACTION_RESULT extends org.ros.internal.message.Message>

java.lang.Object

rjs.arch.actions.AbstractAction

rjs.arch.actions.AbstractClientAction<T_ACTION_GOAL,T_ACTION_FEEDBACK,T_ACTION_RESULT>

All Implemented Interfaces:

com.github.rosjava_actionlib.ActionClientFeedbackListener<T_ACTION_FEEDBACK>, com.github.rosjava_actionlib.ActionClientListener<T_ACTION_FEEDBACK,T_ACTION_RESULT>, com.github.rosjava_actionlib.ActionClientResultListener<T_ACTION_RESULT>, com.github.rosjava_actionlib.ActionClientStatusListener, Action

public abstract class AbstractClientAction<T_ACTION_GOAL extends org.ros.internal.message.Message,T_ACTION_FEEDBACK extends org.ros.internal.message.Message,T_ACTION_RESULT extends org.ros.internal.message.Message>
extends AbstractAction
implements com.github.rosjava_actionlib.ActionClientListener<T_ACTION_FEEDBACK,T_ACTION_RESULT>

Field Summary

Fields

Modifier and Type	Field	Description
private actionlib_msgs.GoalID	goalID
protected RjsActionClient<T_ACTION_GOAL,T_ACTION_FEEDBACK,T_ACTION_RESULT>	rjsActionClient

Fields inherited from class rjs.arch.actions.AbstractAction

actionExec, actionName, actionTerms, logger, rosAgArch, sync

Constructor Summary

Constructors

Constructor	Description
AbstractClientAction(jason.asSemantics.ActionExec actionExec, AbstractROSAgArch rosAgArch, RjsActionClient<T_ACTION_GOAL,T_ACTION_FEEDBACK,T_ACTION_RESULT> actionClient)

Method Summary

Modifier and Type	Method	Description
protected void	addGoalStatusInBB()
void	cancelActiveGoal()
abstract T_ACTION_GOAL	computeGoal()
void	execute()
T_ACTION_GOAL	newGoalMessage()
protected void	removeGoalStatusInBB()
void	resultReceived(T_ACTION_RESULT result)
void	sendGoal(T_ACTION_GOAL actionGoal)
private void	setJasonActionResult(boolean resultSuccess)
protected abstract void	setResultAborted(T_ACTION_RESULT result)
protected abstract void	setResultSucceeded(T_ACTION_RESULT result)
void	statusReceived(actionlib_msgs.GoalStatusArray arg0)

Methods inherited from class rjs.arch.actions.AbstractAction

getActionTerm, getRosNode, handleFailure, isSync, setActionExecuted, setSync

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.github.rosjava_actionlib.ActionClientFeedbackListener

feedbackReceived

Field Detail

rjsActionClient

protected RjsActionClient<T_ACTION_GOAL extends org.ros.internal.message.Message,T_ACTION_FEEDBACK extends org.ros.internal.message.Message,T_ACTION_RESULT extends org.ros.internal.message.Message> rjsActionClient

goalID

private actionlib_msgs.GoalID goalID

Constructor Detail

AbstractClientAction

public AbstractClientAction(jason.asSemantics.ActionExec actionExec,
                            AbstractROSAgArch rosAgArch,
                            RjsActionClient<T_ACTION_GOAL,T_ACTION_FEEDBACK,T_ACTION_RESULT> actionClient)

Method Detail

execute

public void execute()

Specified by:

execute in interface Action

computeGoal

public abstract T_ACTION_GOAL computeGoal()

sendGoal

public void sendGoal(T_ACTION_GOAL actionGoal)

cancelActiveGoal

public void cancelActiveGoal()

resultReceived

public void resultReceived(T_ACTION_RESULT result)

Specified by:

resultReceived in interface com.github.rosjava_actionlib.ActionClientResultListener<T_ACTION_GOAL extends org.ros.internal.message.Message>

statusReceived

public void statusReceived(actionlib_msgs.GoalStatusArray arg0)

Specified by:

statusReceived in interface com.github.rosjava_actionlib.ActionClientStatusListener

newGoalMessage

public T_ACTION_GOAL newGoalMessage()

setResultSucceeded

protected abstract void setResultSucceeded(T_ACTION_RESULT result)

setResultAborted

protected abstract void setResultAborted(T_ACTION_RESULT result)

addGoalStatusInBB

protected void addGoalStatusInBB()

removeGoalStatusInBB

protected void removeGoalStatusInBB()

setJasonActionResult

private void setJasonActionResult(boolean resultSuccess)