From c5adec6d7e6061088dabc6179bfdd3cfc81c6f20 Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Thu, 7 Jul 2011 17:58:28 +0000
Subject: [PATCH] [tibi_dabo_hri_node] - fixing port name to Loquendo TTS
[iri_action_server]
- fixing bug when client asks for preemption. Now preempting instead of aborting
---
include/iri_action_server/iri_action_server.h | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/include/iri_action_server/iri_action_server.h b/include/iri_action_server/iri_action_server.h
index 50ceced..1afc01c 100755
--- a/include/iri_action_server/iri_action_server.h
+++ b/include/iri_action_server/iri_action_server.h
@@ -307,7 +307,10 @@ IriActionServer<ActionSpec>::IriActionServer(ros::NodeHandle & nh, const std::st
template <class ActionSpec>
IriActionServer<ActionSpec>::~IriActionServer(void)
{
-
+// std::cout << "IriActionServer::Destructor:: active=" << as_.isActive() << std::endl;
+// if( as_.isActive() )
+// as_.setAborted();
+// as_.shutdown();
ROS_DEBUG("IriActionServer::Destructor");
}
@@ -371,12 +374,13 @@ void IriActionServer<ActionSpec>::executeCallback(const GoalConstPtr& goal)
// and if ROS connection is OK
if( as_.isPreemptRequested() || !ros::ok() )
{
+ std::cout << "IriActionServer::executeCallback::PREEMPTED!" << std::endl;
ROS_DEBUG("IriActionServer::executeCallback::PREEMPTED!");
//is_active = false;
// stop action
stop_action_callback_();
- as_.setAborted();
+ as_.setPreempted();
}
// check if action has finished
else if( is_finished_callback_() )
--
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