actionlib_msgs.flex

// ROS is available under the BSD license Copyright (C) 2009, Willow Garage, Inc.  
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module ROS::Common::v1.actionlib_msgs

import ROS::Common::v1.builtin (TimePrim)
import ROS::Common::v1.std_msgs (Header)


// and has since completed its execution (Terminal State) to some failure (Terminal State) because the goal
// was unattainable or invalid (Terminal State) and has not yet completed execution but the action server
// has not yet confirmed that the goal is canceled and was successfully cancelled (Terminal State) sent over
// the wire by an action server
enum GoalStatusUint8Constants uint8 {
    PENDING = 0;
    ACTIVE = 1;
    PREEMPTED = 2;
    SUCCEEDED = 3;
    ABORTED = 4;
    REJECTED = 5;
    PREEMPTING = 6;
    RECALLING = 7;
    RECALLED = 8;
    LOST = 9;
}

// The stamp should store the time at which this goal was requested. It is used by an action server when it
// tries to preempt all goals that were requested before a certain time
message struct GoalID {
    stamp: TimePrim;
    // The id provides a way to associate feedback and result message with specific goal requests. The id specified
    // must be unique.
    id: string;
}

message struct GoalStatus {
    goal_id: GoalID;
    status: uint8;
    // Allow for the user to associate a string with GoalStatus for debugging
    text: string;
}

// Stores the statuses for goals that are currently being tracked by an action server
message struct GoalStatusArray {
    header: Header;
    status_list: GoalStatus[];
}