encap_runner.hpp

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#pragma once
 
#include <capabilities2_runner/notrigger_action_runner.hpp>
#include <capabilities2_msgs/action/capability.hpp>
 
namespace capabilities2_runner
{
 
template <typename ActionT>
class EnCapRunner : public NoTriggerActionRunner<ActionT>
{
public:
  EnCapRunner() : NoTriggerActionRunner()
  {
  }
 
  virtual void init_encapsulated_action(rclcpp::Node::SharedPtr node, const runner_opts& run_config,
                                        const std::string& action_name, std::function<void(Event&)> print)
  {
    // init the base action runner
    init_action(node, run_config, action_name, print);
 
    // create an encapsulating action server
    encap_action_ = rclcpp_action::create_server<capabilities2_msgs::action::Capability>(
        node_, "~/encap/" + get_provider(),
        std::bind(&EnCapRunner::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
        std::bind(&EnCapRunner::handle_cancel, this, std::placeholders::_1),
        std::bind(&EnCapRunner::handle_accepted, this, std::placeholders::_1));
  }
 
  virtual void stop(const std::string& bond_id, const std::string& instance_id = "") override
  {
    // stop the encapsulating action server
    encap_action_->cancel_all_goals();
    encap_action_.reset();
 
    // stop the base class
    ActionRunner::stop(bond_id, instance_id);
 
    // emit stopped event
    emit_stopped(bond_id, instance_id, param_on_stopped());
  }
 
  // encapsulated action server related functions
  virtual void handle_goal(const rclcpp_action::GoalUUID& uuid,
                           std::shared_ptr<const capabilities2_msgs::action::Capability::Goal> goal);
 
  virtual void handle_cancel(
      const std::shared_ptr<rclcpp_action::ServerGoalHandle<capabilities2_msgs::action::Capability>> goal_handle);
 
  virtual void handle_accepted(
      const std::shared_ptr<rclcpp_action::ServerGoalHandle<capabilities2_msgs::action::Capability>> goal_handle);
 
private:
  std::shared_ptr<rclcpp_action::Server<capabilities2_msgs::action::Capability>> encap_action_;
};
 
}  // namespace capabilities2_runner