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*
* Software License Agreement (BSD License)
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_HANDLE_TRACKER_DELETER_IMP_H_
#define ACTIONLIB_HANDLE_TRACKER_DELETER_IMP_H_
namespace actionlib {
  template <class ActionSpec>
  HandleTrackerDeleter<ActionSpec>::HandleTrackerDeleter(ActionServer<ActionSpec>* as,
      typename std::list<StatusTracker<ActionSpec> >::iterator status_it, boost::shared_ptr<DestructionGuard> guard)
    : as_(as), status_it_(status_it), guard_(guard) {}

  template <class ActionSpec>
  void HandleTrackerDeleter<ActionSpec>::operator()(void* ptr){
    if(as_){
      //make sure that the action server hasn't been destroyed yet
      DestructionGuard::ScopedProtector protector(*guard_);
      if(protector.isProtected()){
        //make sure to lock while we erase status for this goal from the list
        as_->lock_.lock();
        (*status_it_).handle_destruction_time_ = ros::Time::now();
        //as_->status_list_.erase(status_it_);
        as_->lock_.unlock();
      }
    }
  }
};
#endif
