[Personalrobots-commit] SF.net SVN: personalrobots:[17474] pkg/trunk

[<tpr...@us...>]

Revision: 17474
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17474&view=rev
Author:   tpratkanis
Date:     2009-06-23 00:33:43 +0000 (Tue, 23 Jun 2009)

Log Message:
-----------
Add new handlePreempt method to robot actions. This allows you to create an event handler that triggers when preemption occurs.

Modified Paths:
--------------
    pkg/trunk/common/robot_actions/include/robot_actions/action.h
    pkg/trunk/highlevel/test_robot_actions/test/utest.cc

Modified: pkg/trunk/common/robot_actions/include/robot_actions/action.h
===================================================================
--- pkg/trunk/common/robot_actions/include/robot_actions/action.h	2009-06-23 00:22:26 UTC (rev 17473)
+++ pkg/trunk/common/robot_actions/include/robot_actions/action.h	2009-06-23 00:33:43 UTC (rev 17474)
@@ -78,6 +78,11 @@
      * @param feedback The feedback message. At the end of the function, this will be published.
      */
     virtual ResultStatus execute(const Goal& goal, Feedback& feedback) = 0;
+
+    /**
+     * @brief Blocking, user specified code for preemption. By defualt, it does nothing. Please keep in mind that this function will be called on termination.
+     */
+    virtual void handlePreempt() {}
     
     /**
      * @brief Called by the user to check if the action has a new goal.
@@ -117,6 +122,7 @@
      */
     void preempt() {
       _preempt_request = true; 
+      handlePreempt();
       ROS_DEBUG("[%s]Preempt requested\n", getName().c_str());
       while(isActive()) {
 	ros::Duration d; d.fromSec(0.001);
@@ -190,7 +196,7 @@
     }
 
     virtual ~Action(){
-      ROS_ASSERT_MSG(_terminated, "Actions must be terminated before they are deleted, or there will be a segfault. In this case, action '%s' terminated was terminated before it was deleted.", _name.c_str());
+      ROS_ASSERT_MSG(_terminated, "Actions must be terminated before they are deleted, or there will be a segfault. In this case, action '%s' was not terminated before it was deleted.", _name.c_str());
       if(_action_thread != NULL){
 	_action_thread->join();
 	delete _action_thread;

Modified: pkg/trunk/highlevel/test_robot_actions/test/utest.cc
===================================================================
--- pkg/trunk/highlevel/test_robot_actions/test/utest.cc	2009-06-23 00:22:26 UTC (rev 17473)
+++ pkg/trunk/highlevel/test_robot_actions/test/utest.cc	2009-06-23 00:33:43 UTC (rev 17474)
@@ -17,9 +17,10 @@
 class MyAction: public robot_actions::Action<Float32, Float32> {
 public:
 
-  MyAction(std::string name): robot_actions::Action<Float32, Float32>(name), _use_deactivate_wait(false) {}
+  MyAction(std::string name): robot_actions::Action<Float32, Float32>(name), _use_deactivate_wait(false), _handled_preempt(false) {}
 
   bool _use_deactivate_wait;
+  bool _handled_preempt;
 
   const static int FAIL_IF = 30;
 
@@ -63,6 +64,11 @@
 
     return waitForDeactivation(feedback);
   }
+
+  virtual void handlePreempt() {
+    _handled_preempt = true;
+  }
+
 };
 
 /**
@@ -108,6 +114,7 @@
   // Activate
   a.activate(g);
   ASSERT_EQ(c._status.value, foo.ACTIVE);
+  ASSERT_EQ(a._handled_preempt, false);
 
   // Sleep for longer than the goal. Should be finished
   ros::Duration d; 
@@ -123,6 +130,7 @@
   a.preempt();
   d.sleep();
   ASSERT_EQ(c._status.value == foo.PREEMPTED, true);
+  ASSERT_EQ(a._handled_preempt, true);
   ASSERT_EQ(c._value < g.data, true);
 
   // Message adapter connects an action to a ros message context


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