SMACC2
cb_wait_action_server.cpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
22
23namespace smacc2
24{
25namespace client_behaviors
26{
27CbWaitActionServer::CbWaitActionServer(std::chrono::milliseconds timeout) : timeout_(timeout) {}
28
30
32{
33 if (client_ != nullptr)
34 {
35 std::shared_ptr<rclcpp_action::ClientBase> client_base = client_->getClientBase();
36 RCLCPP_INFO(getLogger(), "[CbWaitActionServer] waiting action server..");
37 bool found = client_base->wait_for_action_server(timeout_);
38
39 if (found)
40 {
41 RCLCPP_INFO(getLogger(), "[CbWaitActionServer] action server already available");
42 this->postSuccessEvent();
43 }
44 else
45 {
46 RCLCPP_INFO(getLogger(), "[CbWaitActionServer] action server not found, timeout");
47 this->postFailureEvent();
48 }
49 }
50 else
51 {
52 RCLCPP_INFO(getLogger(), "[CbWaitActionServer] there is no action client in this orthogonal");
53 this->postFailureEvent();
54 }
55}
56} // namespace client_behaviors
57} // namespace smacc2
virtual std::shared_ptr< rclcpp_action::ClientBase > getClientBase()=0
CbWaitActionServer(std::chrono::milliseconds timeout)