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Rename action state transitions #342

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merged 2 commits into from
Apr 16, 2019
Merged

Rename action state transitions #342

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4b3da8d
Rename action state transitions
jacobperron Mar 30, 2019
fb11900
cancel -> canceled
jacobperron Apr 11, 2019
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14 changes: 7 additions & 7 deletions test_communication/test/action_server_py.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ def execute_callback(goal_handle):
return expected_goal.execute_goal(goal_handle)
# Not an expected goal (this should not happen)
print('Unexpected goal received by action server', file=sys.stderr)
goal_handle.set_aborted()
goal_handle.abort()
return action_type.Result()

action_name = 'test/action/' + action_type.__name__
Expand All @@ -61,12 +61,12 @@ def execute_goal(goal_handle):

for i in range(1, goal.order):
if not rclpy.ok():
goal_handle.set_aborted()
goal_handle.abort()
return Fibonacci.Result()

# Check if the goal was canceled
if goal_handle.is_cancel_requested:
goal_handle.set_canceled()
goal_handle.canceled()
result = Fibonacci.Result()
result.sequence = feedback.sequence
print('Goal was canceled')
Expand All @@ -85,7 +85,7 @@ def execute_goal(goal_handle):
# Send final result
result = Fibonacci.Result()
result.sequence = feedback.sequence
goal_handle.set_succeeded()
goal_handle.succeed()
print('Goal succeeded')
return result

Expand Down Expand Up @@ -118,12 +118,12 @@ def execute_goal(goal_handle):
num_feedback = 10
for i in range(0, num_feedback):
if not rclpy.ok():
goal_handle.set_aborted()
goal_handle.abort()
return NestedMessage.Result()

# Check if the goal was canceled
if goal_handle.is_cancel_requested:
goal_handle.set_canceled()
goal_handle.canceled()
print('Goal was canceled')
return result

Expand All @@ -135,7 +135,7 @@ def execute_goal(goal_handle):
time.sleep(0.1)

# Send final result
goal_handle.set_succeeded()
goal_handle.succeed()
print('Goal succeeded')
return result

Expand Down
8 changes: 4 additions & 4 deletions test_communication/test/test_action_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ generate_expected_fibonacci_goals(rclcpp::Logger logger)
// Check if the goal was canceled.
if (goal_handle->is_canceling()) {
result->sequence = feedback->sequence;
goal_handle->set_canceled(result);
goal_handle->canceled(result);
RCLCPP_INFO(logger, "goal was canceled");
return;
}
Expand All @@ -157,7 +157,7 @@ generate_expected_fibonacci_goals(rclcpp::Logger logger)
}

result->sequence = feedback->sequence;
goal_handle->set_succeeded(result);
goal_handle->succeed(result);
RCLCPP_INFO(logger, "goal succeeded");
};

Expand Down Expand Up @@ -213,7 +213,7 @@ generate_expected_nested_message_goals(rclcpp::Logger logger)
// Check if the goal was canceled.
if (goal_handle->is_canceling()) {
result->nested_field.int32_value = result_value;
goal_handle->set_canceled(result);
goal_handle->canceled(result);
RCLCPP_INFO(logger, "goal was canceled");
return;
}
Expand All @@ -227,7 +227,7 @@ generate_expected_nested_message_goals(rclcpp::Logger logger)
}

result->nested_field.int32_value = result_value;
goal_handle->set_succeeded(result);
goal_handle->succeed(result);
RCLCPP_INFO(logger, "goal succeeded");
};

Expand Down