ROS2编程基础课程--Actions

Server/member_functions.cpp
#include <inttypes.h>
#include <memory>
#include "example_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
// TODO(jacobperron): Remove this once it is included as part of 'rclcpp.hpp'
#include "rclcpp_action/rclcpp_action.hpp"
class MinimalActionServer : public rclcpp::Node
{
public:
  using Fibonacci = example_interfaces::action::Fibonacci;
  using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
  explicit MinimalActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
  : Node("minimal_action_server", options)
  {
    using namespace std::placeholders;
    this->action_server_ = rclcpp_action::create_server<Fibonacci>(
      this->get_node_base_interface(),
      this->get_node_clock_interface(),
      this->get_node_logging_interface(),
      this->get_node_waitables_interface(),
      "fibonacci",
      std::bind(&MinimalActionServer::handle_goal, this, _1, _2),
      std::bind(&MinimalActionServer::handle_cancel, this, _1),
      std::bind(&MinimalActionServer::handle_accepted, this, _1));
  }
private:
  rclcpp_action::Server<Fibonacci>::SharedPtr action_server_;
  rclcpp_action::GoalResponse handle_goal(
    const rclcpp_action::GoalUUID & uuid,
    std::shared_ptr<const Fibonacci::Goal> goal)
  {
    RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
    (void)uuid;
    // Let's reject sequences that are over 9000
    if (goal->order > 9000) {
      return rclcpp_action::GoalResponse::REJECT;
    }
    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
  }
  rclcpp_action::CancelResponse handle_cancel(
    const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Received request to cancel goal");
    (void)goal_handle;
    return rclcpp_action::CancelResponse::ACCEPT;
  }
  void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    RCLCPP_INFO(this->get_logger(), "Executing goal");
    rclcpp::Rate loop_rate(1);
    const auto goal = goal_handle->get_goal();
    auto feedback = std::make_shared<Fibonacci::Feedback>();
    auto & sequence = feedback->sequence;
    sequence.push_back(0);
    sequence.push_back(1);
    auto result = std::make_shared<Fibonacci::Result>();
    for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) {
      // Check if there is a cancel request
      if (goal_handle->is_canceling()) {
        result->sequence = sequence;
        goal_handle->canceled(result);
        RCLCPP_INFO(this->get_logger(), "Goal Canceled");
        return;
      }
      // Update sequence
      sequence.push_back(sequence[i] + sequence[i - 1]);
      // Publish feedback
      goal_handle->publish_feedback(feedback);
      RCLCPP_INFO(this->get_logger(), "Publish Feedback");
      loop_rate.sleep();
    }
    // Check if goal is done
    if (rclcpp::ok()) {
      result->sequence = sequence;
      goal_handle->succeed(result);
      RCLCPP_INFO(this->get_logger(), "Goal Suceeded");
    }
  }
  void handle_accepted(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
  {
    using namespace std::placeholders;
    // this needs to return quickly to avoid blocking the executor, so spin up a new thread
    std::thread{std::bind(&MinimalActionServer::execute, this, _1), goal_handle}.detach();
  }
};  // class MinimalActionServer
int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto action_server = std::make_shared<MinimalActionServer>();
  rclcpp::spin(action_server);
  rclcpp::shutdown();
  return 0;
}
Client/member_functions.cpp
#include <inttypes.h>
#include <memory>
#include <string>
#include <iostream>
#include "example_interfaces/action/fibonacci.hpp"
#include "rclcpp/rclcpp.hpp"
// TODO(jacobperron): Remove this once it is included as part of 'rclcpp.hpp'
#include "rclcpp_action/rclcpp_action.hpp"
class MinimalActionClient : public rclcpp::Node
{
public:
  using Fibonacci = example_interfaces::action::Fibonacci;
  using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
  explicit MinimalActionClient(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
  : Node("minimal_action_client", node_options), goal_done_(false)
  {
    this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
      this->get_node_base_interface(),
      this->get_node_graph_interface(),
      this->get_node_logging_interface(),
      this->get_node_waitables_interface(),
      "fibonacci");
    this->timer_ = this->create_wall_timer(
      std::chrono::milliseconds(500),
      std::bind(&MinimalActionClient::send_goal, this));
  }
  bool is_goal_done() const
  {
    return this->goal_done_;
  }
  void send_goal()
  {
    using namespace std::placeholders;
    this->timer_->cancel();
    this->goal_done_ = false;
    if (!this->client_ptr_) {
      RCLCPP_ERROR(this->get_logger(), "Action client not initialized");
    }
    if (!this->client_ptr_->wait_for_action_server(std::chrono::seconds(10))) {
      RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
      this->goal_done_ = true;
      return;
    }
    auto goal_msg = Fibonacci::Goal();
    goal_msg.order = 10;
    RCLCPP_INFO(this->get_logger(), "Sending goal");
    auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
    send_goal_options.goal_response_callback =
      std::bind(&MinimalActionClient::goal_response_callback, this, _1);
    send_goal_options.feedback_callback =
      std::bind(&MinimalActionClient::feedback_callback, this, _1, _2);
    send_goal_options.result_callback =
      std::bind(&MinimalActionClient::result_callback, this, _1);
    auto goal_handle_future = this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
  }
private:
  rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
  rclcpp::TimerBase::SharedPtr timer_;
  bool goal_done_;
  void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)
  {
    auto goal_handle = future.get();
    if (!goal_handle) {
      RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
    } else {
      RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
    }
  }
  void feedback_callback(
    GoalHandleFibonacci::SharedPtr,
    const std::shared_ptr<const Fibonacci::Feedback> feedback)
  {
    RCLCPP_INFO(
      this->get_logger(),
      "Next number in sequence received: %" PRId64,
      feedback->sequence.back());
  }
  void result_callback(const GoalHandleFibonacci::WrappedResult & result)
  {
    this->goal_done_ = true;
    switch (result.code) {
      case rclcpp_action::ResultCode::SUCCEEDED:
        break;
      case rclcpp_action::ResultCode::ABORTED:
        RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
        return;
      case rclcpp_action::ResultCode::CANCELED:
        RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
        return;
      default:
        RCLCPP_ERROR(this->get_logger(), "Unknown result code");
        return;
    }
    RCLCPP_INFO(this->get_logger(), "Result received");
    for (auto number : result.result->sequence) {
      RCLCPP_INFO(this->get_logger(), "%" PRId64, number);
    }
  }
};  // class MinimalActionClient
int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto action_client = std::make_shared<MinimalActionClient>();
  while (!action_client->is_goal_done()) {
    rclcpp::spin_some(action_client);
  }
  rclcpp::shutdown();
  return 0;
}