Add cfg params

cfg/AdcJuryServer.cfg

@@ -39,5 +39,9 @@ gen = ParameterGenerator()
 
 #       Name     Type       Reconf.level Description             Default Min   Max
 gen.add("rate",  double_t,  0,           "Main loop rate (Hz)",  10.0,   0.1, 1000.0)
+gen.add("feedback_status_text",  str_t,  0,           "Feedback text",  "feedback text example")
+gen.add("finish_action_with_success",  bool_t,  0,           "End action with success",  False)
+gen.add("finish_action_with_failure",  bool_t,  0,           "End action with failure",  False)
 
-exit(gen.generate(PACKAGE, "AdcJuryServerAlgorithm", "AdcJuryServer"))
\ No newline at end of file
+
+exit(gen.generate(PACKAGE, "AdcJuryServerAlgorithm", "AdcJuryServer"))

src/adc_jury_server_alg_node.cpp

@@ -164,8 +164,9 @@ void AdcJuryServerAlgNode::adc_juryGetFeedbackCallback(iri_adc_msgs::adc_juryFee
 {
   this->alg_.lock();
   //update feedback data to be sent to client
-  feedback->status = "test";
+  feedback->status = this->config_.feedback_status_text;
   //ROS_INFO("feedback: %s", feedback->data.c_str());
+  //ROS_INFO("AdcJuryServerAlgNode::adc_juryGetFeedbackCallback feedback.status='%s'", feedback->status.c_str());
   this->alg_.unlock();
 }
 
@@ -177,6 +178,21 @@ void AdcJuryServerAlgNode::node_config_update(Config &config, uint32_t level)
   this->alg_.lock();
   if(config.rate!=this->getRate())
     this->setRate(config.rate);
+  
+  if(config.finish_action_with_success)
+  {
+    this->adc_jury_finished=true;
+    this->adc_jury_succeeded=true;
+    config.finish_action_with_success=false;
+  }
+  
+  if(config.finish_action_with_failure)
+  {
+    this->adc_jury_finished=true;
+    this->adc_jury_succeeded=false;
+    config.finish_action_with_failure=false;
+  }
+  
   this->config_=config;
   this->alg_.unlock();
 }