Implement action server and update example

RobotWebTools · Nov 7, 2023 · 0742dba · 0742dba
1 parent 2f54477
commit 0742dba
Show file tree

Hide file tree

Showing 9 changed files with 282 additions and 890 deletions.
diff --git a/build/roslib.js b/build/roslib.js
diff --git a/build/roslib.min.js b/build/roslib.min.js
diff --git a/examples/fibonacci_client.html b/examples/fibonacci_client.html
@@ -51,7 +51,7 @@
     order: 5,
   });
 
-  fibonacciClient.sendGoal(goal, 
+  var goal_id = fibonacciClient.sendGoal(goal, 
   function(result) {
     console.log('Result for action goal on ' + fibonacciClient.name + ': ' + result.result.sequence);
   },

diff --git a/examples/fibonacci_server.html b/examples/fibonacci_server.html
@@ -20,56 +20,51 @@
   // The ActionServer
   // ----------------
 
-  this.fibonacciServer = new ROSLIB.SimpleActionServer({
+  var fibonacciServer = new ROSLIB.Action({
     ros : ros,
-    serverName : '/fibonacci',
-    actionName : 'actionlib_tutorials/FibonacciAction'
+    name : '/fibonacci',
+    actionType : 'action_tutorials_interfaces/Fibonacci'
   });
 
-  this.canceled = false;
-  var that=this;
-
-  //handle fibonacci action request.
-  this.fibonacciServer.on('goal', function(goalMessage) {
-    console.log(goalMessage);
+  fibonacciServer.advertise(function(goal, id) {
+    console.log('Received action goal on ' + fibonacciServer.name + ', order: ' + goal.order);
+    console.log('ID: ' + id);
     fibonacciSequence = [];
     fibonacciSequence.push(0);
     fibonacciSequence.push(1);
 
-    for (var i = 1; i < goalMessage.order; i++ ) {
-      fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
-
-      if (that.canceled === true ) {
-        console.log("Action server preempted");
-
-        that.fibonacciServer.setPreempted();
-      }
-      console.log(fibonacciSequence);
-      //send feedback
-      var feedback = { sequence: fibonacciSequence };
-      that.fibonacciServer.sendFeedback(fibonacciSequence);
+    // failure case
+    if (goal.order > 47) {
+      console.log('Aborting. Value will exceed maximum signed integer value.');
+      fibonacciServer.setFailed(id);
+      return;
     }
 
-    //send result
-    var result = { sequence: fibonacciSequence};
-    that.fibonacciServer.setSucceeded(result);
-  });
+    // publish feedback
+    for (var i = 1; i < goal.order; i++ ) {
+      fibonacciSequence.push( fibonacciSequence[i] + fibonacciSequence[i-1] );
+      console.log('Sending feedback: ' + fibonacciSequence);
+      fibonacciServer.sendFeedback(id, { partial_sequence : fibonacciSequence });
+    }
 
-  this.fibonacciServer.on('cancel', function(goalMessage){
-    that.canceled = true;
+    // send result
+    console.log('Sending result: ' + fibonacciSequence);
+    fibonacciServer.setSucceeded(id, { sequence: fibonacciSequence });
   });
 </script>
 </head>
 
 <body>
-  <h1>Fibonacci ActionClient Example</h1>
+  <h1>Fibonacci ActionServer Example</h1>
   <p>Run the following commands in the terminal then refresh this page. Check the JavaScript
     console for the output.</p>
   <ol>
-    <li><tt>roscore</tt></li>
-    <li><tt>roslaunch rosbridge_server rosbridge_websocket.launch</tt></li>
+    <li><tt>ros2 launch rosbridge_server rosbridge_websocket_launch.xml</tt></li>
     <li><tt>refresh this page</tt></li>
-    <li><tt>rosrun actionlib_tutorials fibonacci_client</tt></li>
+    <li><tt>ros2 run action_tutorials_py fibonacci_action_client</tt>
+        <br>or<br>
+        <tt>ros2 action send_goal --feedback /fibonacci action_tutorials_interfaces/action/Fibonacci order:\ 20\ </tt>
+    </li>
   </ol>
 </body>
 </html>
diff --git a/src/RosLib.js b/src/RosLib.js
@@ -17,8 +17,6 @@ var assign = require('object-assign');
 // Add core components
 assign(ROSLIB, require('./core'));
 
-assign(ROSLIB, require('./actionlib'));
-
 assign(ROSLIB, require('./math'));
 
 assign(ROSLIB, require('./tf'));

diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
diff --git a/src/actionlib/index.js b/src/actionlib/index.js
@@ -5,7 +5,6 @@ var action = module.exports = {
     ActionClient: require('./ActionClient'),
     ActionListener: require('./ActionListener'),
     Goal: require('./Goal'),
-    SimpleActionServer: require('./SimpleActionServer')
 };
 
-mixin(Ros, ['ActionClient', 'SimpleActionServer'], action);
+mixin(Ros, ['ActionClient'], action);