Source: actionlib/Goal.js

  1. /**
  2.  * @fileOverview
  3.  * @author Russell Toris - rctoris@wpi.edu
  4.  */
  6. var Message = require('../core/Message');
  7. var EventEmitter2 = require('eventemitter2').EventEmitter2;
  9. /**
  10.  * An actionlib goal that is associated with an action server.
  11.  *
  12.  * Emits the following events:
  13.  *  * 'timeout' - If a timeout occurred while sending a goal.
  14.  *
  15.  * @constructor
  16.  * @param {Object} options
  17.  * @param {ActionClient} options.actionClient - The ROSLIB.ActionClient to use with this goal.
  18.  * @param {Object} options.goalMessage - The JSON object containing the goal for the action server.
  19.  */
  20. function Goal(options) {
  21.   var that = this;
  22.   this.actionClient = options.actionClient;
  23.   this.goalMessage = options.goalMessage;
  24.   this.isFinished = false;
  26.   // Used to create random IDs
  27.   var date = new Date();
  29.   // Create a random ID
  30.   this.goalID = 'goal_' + Math.random() + '_' + date.getTime();
  31.   // Fill in the goal message
  32.   this.goalMessage = new Message({
  33.     goal_id : {
  34.       stamp : {
  35.         secs : 0,
  36.         nsecs : 0
  37.       },
  38.       id : this.goalID
  39.     },
  40.     goal : this.goalMessage
  41.   });
  43.   this.on('status', function(status) {
  44.     that.status = status;
  45.   });
  47.   this.on('result', function(result) {
  48.     that.isFinished = true;
  49.     that.result = result;
  50.   });
  52.   this.on('feedback', function(feedback) {
  53.     that.feedback = feedback;
  54.   });
  56.   // Add the goal
  57.   this.actionClient.goals[this.goalID] = this;
  58. }
  60. Goal.prototype.__proto__ = EventEmitter2.prototype;
  62. /**
  63.  * Send the goal to the action server.
  64.  *
  65.  * @param {number} [timeout] - A timeout length for the goal's result.
  66.  */
  67. Goal.prototype.send = function(timeout) {
  68.   var that = this;
  69.   that.actionClient.goalTopic.publish(that.goalMessage);
  70.   if (timeout) {
  71.     setTimeout(function() {
  72.       if (!that.isFinished) {
  73.         that.emit('timeout');
  74.       }
  75.     }, timeout);
  76.   }
  77. };
  79. /**
  80.  * Cancel the current goal.
  81.  */
  82. Goal.prototype.cancel = function() {
  83.   var cancelMessage = new Message({
  84.     id : this.goalID
  85.   });
  86.   this.actionClient.cancelTopic.publish(cancelMessage);
  87. };
  89. module.exports = Goal;