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;

};