/usr/include/actionlib/client/goal_manager_imp.h is in libactionlib-dev 1.11.7-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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/* This file has the template implementation for GoalHandle. It should be included with the
* class definition.
*/
namespace actionlib
{
template<class ActionSpec>
void GoalManager<ActionSpec>::registerSendGoalFunc(SendGoalFunc send_goal_func)
{
send_goal_func_ = send_goal_func;
}
template<class ActionSpec>
void GoalManager<ActionSpec>::registerCancelFunc(CancelFunc cancel_func)
{
cancel_func_ = cancel_func;
}
template<class ActionSpec>
ClientGoalHandle<ActionSpec> GoalManager<ActionSpec>::initGoal(const Goal& goal,
TransitionCallback transition_cb,
FeedbackCallback feedback_cb )
{
ActionGoalPtr action_goal(new ActionGoal);
action_goal->header.stamp = ros::Time::now();
action_goal->goal_id = id_generator_.generateID();
action_goal->goal = goal;
if (send_goal_func_)
send_goal_func_(action_goal);
else
ROS_WARN_NAMED("actionlib", "Possible coding error: send_goal_func_ set to NULL. Not going to send goal");
typedef CommStateMachine<ActionSpec> CommStateMachineT;
boost::shared_ptr<CommStateMachineT> comm_state_machine(new CommStateMachineT(action_goal, transition_cb, feedback_cb));
boost::recursive_mutex::scoped_lock lock(list_mutex_);
typename ManagedListT::Handle list_handle = list_.add(comm_state_machine, boost::bind(&GoalManagerT::listElemDeleter, this, _1), guard_);
return GoalHandleT(this, list_handle, guard_);
}
template<class ActionSpec>
void GoalManager<ActionSpec>::listElemDeleter(typename ManagedListT::iterator it)
{
assert(guard_);
DestructionGuard::ScopedProtector protector(*guard_);
if (!protector.isProtected())
{
ROS_ERROR_NAMED("actionlib", "This action client associated with the goal handle has already been destructed. Not going to try delete the CommStateMachine associated with this goal");
return;
}
ROS_DEBUG_NAMED("actionlib", "About to erase CommStateMachine");
boost::recursive_mutex::scoped_lock lock(list_mutex_);
list_.erase(it);
ROS_DEBUG_NAMED("actionlib", "Done erasing CommStateMachine");
}
template<class ActionSpec>
void GoalManager<ActionSpec>::updateStatuses(const actionlib_msgs::GoalStatusArrayConstPtr& status_array)
{
boost::recursive_mutex::scoped_lock lock(list_mutex_);
typename ManagedListT::iterator it = list_.begin();
while (it != list_.end())
{
GoalHandleT gh(this, it.createHandle(), guard_);
(*it)->updateStatus(gh, status_array);
++it;
}
}
template<class ActionSpec>
void GoalManager<ActionSpec>::updateFeedbacks(const ActionFeedbackConstPtr& action_feedback)
{
boost::recursive_mutex::scoped_lock lock(list_mutex_);
typename ManagedListT::iterator it = list_.begin();
while (it != list_.end())
{
GoalHandleT gh(this, it.createHandle(), guard_);
(*it)->updateFeedback(gh, action_feedback);
++it;
}
}
template<class ActionSpec>
void GoalManager<ActionSpec>::updateResults(const ActionResultConstPtr& action_result)
{
boost::recursive_mutex::scoped_lock lock(list_mutex_);
typename ManagedListT::iterator it = list_.begin();
while (it != list_.end())
{
GoalHandleT gh(this, it.createHandle(), guard_);
(*it)->updateResult(gh, action_result);
++it;
}
}
}
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