From 7d7300743bfd8802c3af6c3ddaaf4002e6260518 Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Fri, 29 Mar 2019 19:30:32 -0700 Subject: [PATCH] Rename action state transitions 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 --- rclcpp/minimal_action_server/not_composable.cpp | 4 ++-- .../examples_rclpy_minimal_action_server/server.py | 4 ++-- .../examples_rclpy_minimal_action_server/server_defer.py | 4 ++-- .../server_not_composable.py | 4 ++-- .../server_queue_goals.py | 4 ++-- .../server_single_goal.py | 6 +++--- 6 files changed, 13 insertions(+), 13 deletions(-) diff --git a/rclcpp/minimal_action_server/not_composable.cpp b/rclcpp/minimal_action_server/not_composable.cpp index dc87eda3..2994376b 100644 --- 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 index 4fb760b5..4fc29472 100644 --- 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 index fa0620c3..98c67b95 100644 --- 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/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py index f649b362..d99ebf59 100644 --- a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_not_composable.py +++ b/rclpy/actions/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/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py index e4226925..79e723cc 100644 --- a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_queue_goals.py +++ b/rclpy/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/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py b/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py index de164a57..30d15f7e 100644 --- a/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server_single_goal.py +++ b/rclpy/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()