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Run goalcallback asynchronously #496

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merged 5 commits into from
Oct 27, 2023
Merged

Run goalcallback asynchronously #496

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c08dcaa
Run goalCallback in a seperate asynchronously
JafarAbdi Jun 20, 2022
0992a28
Clang-tidy fixes
sjahr May 16, 2023
1b56805
Replace std::bind with lambdas
sjahr Oct 24, 2023
3528c08
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sjahr Oct 26, 2023
fa7a25c
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sjahr Oct 27, 2023
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22 changes: 16 additions & 6 deletions capabilities/src/execute_task_solution_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,12 +90,22 @@ void ExecuteTaskSolutionCapability::initialize() {
// configure the action server
as_ = rclcpp_action::create_server<moveit_task_constructor_msgs::action::ExecuteTaskSolution>(
context_->moveit_cpp_->getNode(), "execute_task_solution",
ActionServerType::GoalCallback(std::bind(&ExecuteTaskSolutionCapability::handleNewGoal, this,
std::placeholders::_1, std::placeholders::_2)),
ActionServerType::CancelCallback(
std::bind(&ExecuteTaskSolutionCapability::preemptCallback, this, std::placeholders::_1)),
ActionServerType::AcceptedCallback(
std::bind(&ExecuteTaskSolutionCapability::goalCallback, this, std::placeholders::_1)));
[this](const rclcpp_action::GoalUUID& /*uuid*/,
const ExecuteTaskSolutionAction::Goal::ConstSharedPtr& /*goal*/) {
// Reject new goal if another goal is currently processed
if (last_goal_future_.valid() &&
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last_goal_future_.wait_for(std::chrono::seconds::zero()) != std::future_status::ready) {
return rclcpp_action::GoalResponse::REJECT;
}
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
},
[this](const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle) {
return preemptCallback(goal_handle);
},
[this](const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle) {
last_goal_future_ =
std::async(std::launch::async, &ExecuteTaskSolutionCapability::goalCallback, this, goal_handle);
});
}

void ExecuteTaskSolutionCapability::goalCallback(
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7 changes: 1 addition & 6 deletions capabilities/src/execute_task_solution_capability.h
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Original file line number Diff line number Diff line change
Expand Up @@ -68,13 +68,8 @@ class ExecuteTaskSolutionCapability : public MoveGroupCapability
rclcpp_action::CancelResponse
preemptCallback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteTaskSolutionAction>>& goal_handle);

/** Always accept the goal */
rclcpp_action::GoalResponse handleNewGoal(const rclcpp_action::GoalUUID& /*uuid*/,
const ExecuteTaskSolutionAction::Goal::ConstSharedPtr& /*goal*/) const {
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}

ActionServerType::SharedPtr as_;
std::future<void> last_goal_future_;
};

} // namespace move_group
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