Now using active verbs as described in the design doc:

http://design.ros2.org/articles/actions.html#goal-states Connects to ros2/rcl#399. Signed-off-by: Jacob Perron <[email protected]>
ros2 · Mar 30, 2019 · 9958990 · 9958990
1 parent 54a8b18
commit 9958990
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Showing 6 changed files with 13 additions and 13 deletions.
diff --git a/rclcpp/minimal_action_server/not_composable.cpp b/rclcpp/minimal_action_server/not_composable.cpp
@@ -61,7 +61,7 @@ void execute(
     if (goal_handle->is_canceling())
     {
       result->sequence = sequence;
-      goal_handle->set_canceled(result);
+      goal_handle->cancel(result);
       RCLCPP_INFO(rclcpp::get_logger("server"), "Goal Canceled");
       return;
     }
@@ -77,7 +77,7 @@ void execute(
   // Check if goal is done
   if (rclcpp::ok()) {
     result->sequence = sequence;
-    goal_handle->set_succeeded(result);
+    goal_handle->succeed(result);
     RCLCPP_INFO(rclcpp::get_logger("server"), "Goal Suceeded");
   }
 }

diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py
@@ -63,7 +63,7 @@ async def execute_callback(self, goal_handle):
         # Start executing the action
         for i in range(1, goal_handle.request.order):
             if goal_handle.is_cancel_requested:
-                goal_handle.set_canceled()
+                goal_handle.cancel()
                 self.get_logger().info('Goal canceled')
                 return Fibonacci.Result()
 
@@ -78,7 +78,7 @@ async def execute_callback(self, goal_handle):
             # Sleep for demonstration purposes
             time.sleep(1)
 
-        goal_handle.set_succeeded()
+        goal_handle.succeed()
 
         # Populate result message
         result = Fibonacci.Result()

diff --git a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_defer.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_defer.py
@@ -77,7 +77,7 @@ async def execute_callback(self, goal_handle):
         # Start executing the action
         for i in range(1, goal_handle.request.order):
             if goal_handle.is_cancel_requested:
-                goal_handle.set_canceled()
+                goal_handle.cancel()
                 self.get_logger().info('Goal canceled')
                 return Fibonacci.Result()
 
@@ -92,7 +92,7 @@ async def execute_callback(self, goal_handle):
             # Sleep for demonstration purposes
             time.sleep(1)
 
-        goal_handle.set_succeeded()
+        goal_handle.succeed()
 
         # Populate result message
         result = Fibonacci.Result()

diff --git a/...tions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py b/...tions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py
@@ -42,7 +42,7 @@ async def execute_callback(goal_handle):
     # Start executing the action
     for i in range(1, goal_handle.request.order):
         if goal_handle.is_cancel_requested:
-            goal_handle.set_canceled()
+            goal_handle.cancel()
             logger.info('Goal canceled')
             return Fibonacci.Result()
 
@@ -57,7 +57,7 @@ async def execute_callback(goal_handle):
         # Sleep for demonstration purposes
         time.sleep(1)
 
-    goal_handle.set_succeeded()
+    goal_handle.succeed()
 
     # Populate result message
     result = Fibonacci.Result()

diff --git a/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py b/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py
@@ -59,7 +59,7 @@ def execute_callback(self, goal_handle):
         # Start executing the action
         for i in range(1, goal_handle.request.order):
             if goal_handle.is_cancel_requested:
-                goal_handle.set_canceled()
+                goal_handle.cancel()
                 self.get_logger().info('Goal canceled')
                 return Fibonacci.Result()
 
@@ -74,7 +74,7 @@ def execute_callback(self, goal_handle):
             # Sleep for demonstration purposes
             time.sleep(1)
 
-        goal_handle.set_succeeded()
+        goal_handle.succeed()
 
         # Populate result message
         result = Fibonacci.Result()

diff --git a/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py b/.../actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py
@@ -56,7 +56,7 @@ def handle_accepted_callback(self, goal_handle):
             if self._goal_handle is not None and self._goal_handle.is_active:
                 self.get_logger().info('Aborting previous goal')
                 # Abort the existing goal
-                self._goal_handle.set_aborted()
+                self._goal_handle.abort()
             self._goal_handle = goal_handle
 
         goal_handle.execute()
@@ -83,7 +83,7 @@ def execute_callback(self, goal_handle):
                 return Fibonacci.Result()
 
             if goal_handle.is_cancel_requested:
-                goal_handle.set_canceled()
+                goal_handle.cancel()
                 self.get_logger().info('Goal canceled')
                 return Fibonacci.Result()
 
@@ -98,7 +98,7 @@ def execute_callback(self, goal_handle):
             # Sleep for demonstration purposes
             time.sleep(1)
 
-        goal_handle.set_succeeded()
+        goal_handle.succeed()
 
         # Populate result message
         result = Fibonacci.Result()