<filename>rpn_controller/src/rpn_controller_servers/basic_controller_plugin_server.py
#!/usr/bin/python
# -*- coding: utf-8 -*-
"""
@author: <NAME>
"""

import rospy
import actionlib
from rpn_recipe_planner_msgs.msg import RosServerAction
from rpn_controller_servers.abstract_controller_plugin_server import AbstractControllerPluginServer


class BasicControllerPluginServer(AbstractControllerPluginServer):
    def __init__(self, ns, controller_name="", ActionSpec=RosServerAction, goal_cb=None, cancel_cb=actionlib.nop_cb, auto_start=True):
        super(BasicControllerPluginServer, self).__init__(ns, ActionSpec, goal_cb, cancel_cb, auto_start)
        self.__cn = rospy.get_param("rpn_controller_name", controller_name)
        print "GOT CONTROLLER NAME AS:", self.__cn

    @property
    def controller_name(self):
        return self.__cn

