From d74ee960d9e1339d7c4eb12db039b113c82a2400 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 16 May 2023 11:14:16 +0200
Subject: [PATCH] In the action_done callback, the action status is only
updated if the tiemout and watchdog have not been activated.
---
include/iri_ros_tools/module_action.h | 39 ++++++++++++++-------------
1 file changed, 21 insertions(+), 18 deletions(-)
diff --git a/include/iri_ros_tools/module_action.h b/include/iri_ros_tools/module_action.h
index c960934..8932320 100644
--- a/include/iri_ros_tools/module_action.h
+++ b/include/iri_ros_tools/module_action.h
@@ -217,26 +217,29 @@ class CModuleAction
void action_done(const actionlib::SimpleClientGoalState& state,const ResultConstPtr& result)
{
this->action_access.enter();
- if(state==actionlib::SimpleClientGoalState::ABORTED)
+ if(this->status==ACTION_RUNNING)
{
- ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " aborted");
- this->status=ACTION_ABORTED;
- }
- if(state==actionlib::SimpleClientGoalState::REJECTED)
- {
- ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " rejected");
- this->status=ACTION_REJECTED;
- }
- else if(state==actionlib::SimpleClientGoalState::PREEMPTED)
- {
- ROS_WARN_STREAM("CModuleAction::action_done: goal on server " << this->name << " preempted");
- this->status=ACTION_PREEMPTED;
+ if(state==actionlib::SimpleClientGoalState::ABORTED)
+ {
+ ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " aborted");
+ this->status=ACTION_ABORTED;
+ }
+ if(state==actionlib::SimpleClientGoalState::REJECTED)
+ {
+ ROS_ERROR_STREAM("CModuleAction::action_done: goal on server " << this->name << " rejected");
+ this->status=ACTION_REJECTED;
+ }
+ else if(state==actionlib::SimpleClientGoalState::PREEMPTED)
+ {
+ ROS_WARN_STREAM("CModuleAction::action_done: goal on server " << this->name << " preempted");
+ this->status=ACTION_PREEMPTED;
+ }
+ else if(state==actionlib::SimpleClientGoalState::SUCCEEDED)
+ {
+ ROS_INFO_STREAM("CModuleAction::action_done: goal on server " << this->name << " successfull");
+ this->status=ACTION_SUCCESS;
+ }
}
- else if(state==actionlib::SimpleClientGoalState::SUCCEEDED)
- {
- ROS_INFO_STREAM("CModuleAction::action_done: goal on server " << this->name << " successfull");
- this->status=ACTION_SUCCESS;
- }
this->action_result_msg=*result;
this->action_feedback_msg=Feedback();
this->action_access.exit();
--
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