refactored clientStates, add ClientStatemachine to futures

Author: LeroyR

README.md

@@ -1,17 +1,12 @@
 # Actionlib for Rosjava
 A pure java implementation of [actionlib](http://wiki.ros.org/actionlib) for [rosjava](http://wiki.ros.org/rosjava).
-Features implemented:
 
-Latest release: [v0.2.0](https://github.com/ernestmc/rosjava_actionlib/releases/tag/v0.2.0)
-
-New in this release:
-* Added goal state tracking to the client.
-* Added a waitForActionServerToStart method to the client.
+based on: github.com/ernestmc/rosjava_actionlib
 
 ## Requirements:
 * ROS Indigo http://wiki.ros.org/
 * Rosjava ```$ sudo apt-get install ros-indigo-rosjava``` http://wiki.ros.org/rosjava/Tutorials/indigo/Installation
-* Java 1.7 or greater (OpenJDK should work)
+* Java 1.8 or greater (OpenJDK should work)
 * Also make sure you have the following packages: ```ros-indigo-actionlib``` ```ros-indigo-actionlib-tutorials``` ```ros-indigo-genjava```
 
 You can find a video tutorial showing how to install and test the library following the instructions below:

build.gradle

@@ -25,6 +25,8 @@ plugins {
 
 apply plugin: 'catkin'
 apply plugin: 'ros-java'
+sourceCompatibility = 1.8
+targetCompatibility = 1.8
 
 task wrapper(type: Wrapper) {
     gradleVersion = '4.6'

src/main/java/com/github/rosjava_actionlib/ActionClient.java

@@ -103,8 +103,8 @@ public void detachListener(ActionClientListener target) {
      * Publish an action goal to the server. The type of the action goal message
      * is dependent on the application.
      *
-     * @param goal The action goal message.
-     * @param id   A string containing the ID for the goal. The ID should represent
+     * @param agMessage The action goal message.
+     * @param id        A string containing the ID for the goal. The ID should represent
      */
     public ActionFuture<T_ACTION_GOAL, T_ACTION_FEEDBACK, T_ACTION_RESULT> sendGoal(T_ACTION_GOAL agMessage, String id) {
         GoalID gid = getGoalId(agMessage);
@@ -126,7 +126,7 @@ protected void sendGoalWire(T_ACTION_GOAL agMessage) {
      * Publish an action goal to the server. The type of the action goal message
      * is dependent on the application. A goal ID will be automatically generated.
      *
-     * @param goal The action goal message.
+     * @param agMessage The action goal message.
      */
     public ActionFuture<T_ACTION_GOAL, T_ACTION_FEEDBACK, T_ACTION_RESULT> sendGoal(T_ACTION_GOAL agMessage) {
         return sendGoal(agMessage, "");
@@ -402,12 +402,17 @@ public void onNewPublisher(Subscriber subscriber, PublisherIdentifier publisherI
      * Get the current state of the action goal as being tracked by the client.
      *
      * @return The state of the goal.
-     * @see ClientStateMachine.ClientStates
+     * @see ClientState
      */
-    public int getGoalState() {
+    public int getGoalStateInteger() {
+        return goalManager.getGoalState().getValue();
+    }
+
+    public ClientState getGoalState() {
         return goalManager.getGoalState();
     }
 
+
     public boolean isActive() {
         return goalManager.stateMachine.isRunning();
     }

src/main/java/com/github/rosjava_actionlib/ActionClientFuture.java

@@ -3,7 +3,6 @@
 import actionlib_msgs.GoalID;
 import actionlib_msgs.GoalStatus;
 import actionlib_msgs.GoalStatusArray;
-import com.github.rosjava_actionlib.ClientStateMachine.ClientStates;
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 import org.ros.internal.message.Message;
@@ -18,7 +17,7 @@ public class ActionClientFuture<T_GOAL extends Message, T_FEEDBACK extends Messa
 
     final GoalID goalid;
     final ActionClient<T_GOAL, T_FEEDBACK, T_RESULT> ac;
-    boolean isDone = false;
+    ClientGoalManager goalManager = new ClientGoalManager(new ActionGoal<T_GOAL>());
     T_FEEDBACK latestFeedback = null;
     T_RESULT result = null;
 
@@ -32,8 +31,9 @@ public class ActionClientFuture<T_GOAL extends Message, T_FEEDBACK extends Messa
         GoalID goalId = ac.getGoalId(goal);
         ActionClientFuture<T_GOAL, T_FEEDBACK, T_RESULT> ret = new ActionClientFuture<>(ac, goalId);
         if (ac.isActive()) {
-            log.warn("current goal STATE:" + ac.getGoalState() + "=" + ClientStates.translateState(ac.getGoalState()));
+            log.warn("current goal STATE:" + ac.getGoalState() + "=" + ac.getGoalState().getValue());
         }
+        ret.goalManager.setGoal(goal);
         ac.sendGoalWire(goal);
         ac.attachListener(ret);
         return ret;
@@ -50,16 +50,21 @@ public T_FEEDBACK getLatestFeedback() {
         return latestFeedback;
     }
 
+    @Override
+    public ClientState getCurrentState() {
+        return goalManager.stateMachine.getState();
+    }
+
     @Override
     public boolean cancel(boolean bln) {
         ac.sendCancel(goalid);
-        isDone = true;
+        goalManager.cancelGoal();
         return true;
     }
 
     @Override
     public boolean isCancelled() {
-        if (isDone) {
+        if (goalManager.stateMachine.isRunning()) {
             return result == null;
         } else {
             return false;
@@ -68,12 +73,12 @@ public boolean isCancelled() {
 
     @Override
     public boolean isDone() {
-        return isDone;
+        return !goalManager.stateMachine.isRunning();
     }
 
     @Override
     public T_RESULT get() throws InterruptedException, ExecutionException {
-        while (!isDone) {
+        while (goalManager.stateMachine.isRunning()) {
             Thread.sleep(100);
         }
         disconnect();
@@ -83,7 +88,7 @@ public T_RESULT get() throws InterruptedException, ExecutionException {
     @Override
     public T_RESULT get(long l, TimeUnit tu) throws InterruptedException, ExecutionException, TimeoutException {
         long timeout = System.currentTimeMillis() + tu.toMillis(l);
-        while (!isDone) {
+        while (goalManager.stateMachine.isRunning()) {
             if (timeout > System.currentTimeMillis()) {
                 throw new TimeoutException();
             }
@@ -102,8 +107,10 @@ public void resultReceived(T_RESULT msg) {
             return;
         }
 
+        goalManager.updateStatus(r.getGoalStatusMessage().getStatus());
+        goalManager.resultReceived();
+
         result = msg;
-        isDone = true;
         disconnect();
     }
 
@@ -114,6 +121,7 @@ public void feedbackReceived(T_FEEDBACK msg) {
             return;
         }
 
+        goalManager.updateStatus(f.getGoalStatusMessage().getStatus());
         latestFeedback = msg;
     }
 
@@ -123,7 +131,9 @@ public void statusReceived(GoalStatusArray status) {
             if (!goalid.getId().equals(a.getGoalId().getId())) {
                 continue;
             }
-            //CODE HERE
+
+            goalManager.updateStatus(a.getStatus());
+
         }
     }
 

src/main/java/com/github/rosjava_actionlib/ActionClientListener.java

@@ -24,26 +24,30 @@
  * Listener interface to receive the incoming messages from the ActionLib server.
  * A client should implement this interface if it wants to receive the callbacks
  * with information from the server.
+ *
  * @author Ernesto Corbellini [email protected]
  */
 public interface ActionClientListener<T_ACTION_FEEDBACK extends Message,
         T_ACTION_RESULT extends Message> {
     /**
      * Called when a result message is received from the server.
+     *
      * @param result Result message from the server. The type of this message
-     * depends on the application.
+     *               depends on the application.
      */
     void resultReceived(T_ACTION_RESULT result);
 
     /**
      * Called when a feedback message is received from the server.
+     *
      * @param feedback The feedback message received from the server. The type of
-     * this message depends on the application.
+     *                 this message depends on the application.
      */
     void feedbackReceived(T_ACTION_FEEDBACK feedback);
 
     /**
      * Called when a status message is received from the server.
+     *
      * @param status The status message received from the server.
      * @see actionlib_msgs.GoalStatusArray
      */

src/main/java/com/github/rosjava_actionlib/ActionFeedback.java

@@ -24,6 +24,7 @@
 
 /**
  * Class to encapsulate the action feedback object.
+ *
  * @author Ernesto Corbellini [email protected]
  */
 public class ActionFeedback<T_ACTION_FEEDBACK extends Message> {

src/main/java/com/github/rosjava_actionlib/ActionFuture.java

@@ -7,6 +7,7 @@
 public interface ActionFuture<T_ACTION_GOAL extends Message, T_ACTION_FEEDBACK extends Message, T_ACTION_RESULT extends Message> extends Future<T_ACTION_RESULT> {
 
     T_ACTION_FEEDBACK getLatestFeedback();
+    ClientState getCurrentState();
 
     Future<Void> toVoidFuture();
 

src/main/java/com/github/rosjava_actionlib/ActionGoal.java

@@ -25,6 +25,7 @@
 
 /**
  * Class to encapsulate the action goal object.
+ *
  * @author Ernesto Corbellini [email protected]
  */
 public class ActionGoal<T_ACTION_GOAL extends Message> {
@@ -39,6 +40,7 @@ public ActionGoal() {
 
     /**
      * Return the sequence number of the action goal message's header.
+     *
      * @return The sequence number of the std_msgs.Header or -1 if there is an error.
      * @see std_msgs.Header
      */
@@ -59,7 +61,8 @@ public int getHeaderSequence() {
 
     /**
      * Set the sequence number of the action goal message's header.
-     * @param  seq The sequence number for the std_msgs.Header.
+     *
+     * @param seq The sequence number for the std_msgs.Header.
      * @see std_msgs.Header
      */
     public void setHeaderSequence(int seq) {
@@ -77,6 +80,7 @@ public void setHeaderSequence(int seq) {
 
     /**
      * Return the time stamp of the action goal message's header.
+     *
      * @return The time stamp (org.ros.message.Time) of the std_msgs.Header or null otherwise.
      * @see org.ros.message.Time
      */
@@ -97,6 +101,7 @@ public Time getHeaderTimestamp() {
 
     /**
      * Sets the time stamp for the action goal message's header.
+     *
      * @param t The time stamp (org.ros.message.Time) of the std_msgs.Header.
      * @see org.ros.message.Time
      */
@@ -123,6 +128,7 @@ public void setHeaderFrameId(String id) {
 
     /**
      * Return the standard actionlib header message for this action goal.
+     *
      * @return The std_msgs.Header object or null otherwise.
      * @see std_msgs.Header
      */
@@ -161,8 +167,9 @@ public String getGoalId() {
 
     /**
      * Set the action goal's goal ID string and timestamp.
+     *
      * @param id Identification string for this goal.
-     * @param t Time stamp (org.ros.message.Time).
+     * @param t  Time stamp (org.ros.message.Time).
      */
     public void setGoalId(String id, Time t) {
         GoalID gid = getGoalIdMessage();
@@ -190,6 +197,7 @@ public void setGoalIdTimestamp(Time t) {
 
     /**
      * Return the actionlib GoalID message for this action goal.
+     *
      * @return The actionlib_msgs.GoalID object or null otherwise.
      * @see actionlib_msgs.GoalID
      */

src/main/java/com/github/rosjava_actionlib/ActionResult.java

@@ -24,6 +24,7 @@
 
 /**
  * Class to encapsulate the action feedback object.
+ *
  * @author Ernesto Corbellini [email protected]
  */
 public class ActionResult<T_ACTION_RESULT extends Message> {