hlrc

/*

* This file is part of hlrc_server

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/hlrc_server

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the GPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the GPL along with this

* program. If not, go to http://www.gnu.org/licenses/gpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*

*/

#pragma once

#include "Middleware.h"

#include "ros/ros.h"

#include <actionlib/server/simple_action_server.h>

#include <actionlib/action_definition.h>

template <typename actionspec> class CallbackWrapper{

    protected:

        //NODEHANDLE has to be created before evrything else, otherwise really strange things happen (really!)

        //ros::NodeHandle nh_;

    public:

        //get nice macros

        ACTION_DEFINITION(actionspec);

        CallbackWrapper(Middleware *_mw, std::string scope, std::string _name, boost::function<void (const GoalConstPtr&)> cb = 0) : as_(scope + "/" + _name, cb, false){

            name = _name;

            mw = _mw;

            as_.start();

        }

        ~CallbackWrapper(){}

    protected:

        double get_timestamp(){

            //fetch time

            struct timespec tp;

            clock_gettime(CLOCK_REALTIME, &tp);

            return tp.tv_sec+tp.tv_nsec/1000000000.0;

        };

        actionlib::SimpleActionServer<actionspec> as_;

        std::string name;

        Middleware *mw;

};