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//! \author Vijay Pradeep

#include <actionlib/server/action_server.h>
#include <actionlib/TestAction.h>
#include <ros/ros.h>
#include <cstdio>

namespace actionlib
{

class RefServer : public ActionServer<TestAction>
{
public:
  typedef ServerGoalHandle<TestAction> GoalHandle;

  RefServer(ros::NodeHandle& n, const std::string& name);

private:

  void goalCallback(GoalHandle gh);
  void cancelCallback(GoalHandle gh);

};

}

using namespace actionlib;

RefServer::RefServer(ros::NodeHandle& n, const std::string& name)
  : ActionServer<TestAction>(n, name,
                             boost::bind(&RefServer::goalCallback, this, _1),
                             boost::bind(&RefServer::cancelCallback, this, _1),
                             false)
{
  start();
  printf("Creating ActionServer [%s]\n", name.c_str());
}

void RefServer::goalCallback(GoalHandle gh)
{
  TestGoal goal = *gh.getGoal();

  switch (goal.goal)
  {
    case 1:
      gh.setAccepted();
      gh.setSucceeded(TestResult(), "The ref server has succeeded");
      break;
    case 2:
      gh.setAccepted();
      gh.setAborted(TestResult(), "The ref server has aborted");
      break;
    case 3:
      gh.setRejected(TestResult(), "The ref server has rejected");
      break;
    default:
      break;
  }
}

void RefServer::cancelCallback(GoalHandle)
{


}


int main(int argc, char** argv)
{
  ros::init(argc, argv, "ref_server");

  ros::NodeHandle nh;

  RefServer ref_server(nh, "reference_action");

  ros::spin();
}


