From a21321f75ed0bdd53e3e1550de9a112b8077f281 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Tue, 10 Oct 2017 14:21:57 +0000
Subject: [PATCH] Changes to avoid checking the action state when the action is
not active.
---
include/iri_ros_tools/module_action.h | 24 ++++++++++++++++--------
1 file changed, 16 insertions(+), 8 deletions(-)
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index 565a4ed..64b7829 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -665,10 +665,13 @@ template<class action_ros>
void CModuleAction<action_ros>::cancel(void)
{
actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
-
- action_state=action_client->getState();
- if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
- this->action_client->cancelGoal();
+
+ if(this->status==ACTION_RUNNING)
+ {
+ action_state=action_client->getState();
+ if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
+ this->action_client->cancelGoal();
+ }
}
template<class action_ros>
@@ -676,9 +679,14 @@ bool CModuleAction<action_ros>::is_finished(void)
{
actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
- action_state=action_client->getState();
- if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
- return false;
+ if(this->status==ACTION_RUNNING)
+ {
+ action_state=action_client->getState();
+ if(action_state==actionlib::SimpleClientGoalState::ACTIVE)
+ return false;
+ else
+ return true;
+ }
else
return true;
}
@@ -688,9 +696,9 @@ action_status CModuleAction<action_ros>::get_state(void)
{
actionlib::SimpleClientGoalState action_state(actionlib::SimpleClientGoalState::PENDING);
- action_state=action_client->getState();
if(this->status==ACTION_RUNNING)
{
+ action_state=action_client->getState();
if(this->use_timeout && this->is_timeout_active())
this->status=ACTION_TIMEOUT;
if(this->is_watchdog_active())
--
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