diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java index 715440be7d4ca52e5aedfe2053d93a4ea91e3b0a..e3d0830b754d3b188061fd48909be501ebf1f415 100644 --- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java @@ -50,7 +50,6 @@ public class ServerStateMachine { public synchronized int transition(int event) throws Exception { int nextState = state; - switch (state) { case GoalStatus.PENDING: switch (event) { diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java index 244f3f15c50e4e45935a8f04a517b32fa3cfa2b0..f90553fb2e053ea1603f18d62b62e3accf16249b 100644 --- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java @@ -30,6 +30,9 @@ import actionlib_tutorials.FibonacciResult; import actionlib_msgs.GoalStatusArray; import actionlib_msgs.GoalID; import actionlib_msgs.GoalStatus; +import org.apache.commons.logging.Log; +import org.apache.commons.logging.LogFactory; + /** * Class to test the actionlib client. @@ -38,6 +41,7 @@ import actionlib_msgs.GoalStatus; public class TestClient extends AbstractNodeMain implements ActionClientListener<FibonacciActionFeedback, FibonacciActionResult> { private ActionClient ac = null; private volatile boolean resultReceived = false; + private Log log = LogFactory.getLog(ActionClient.class); @Override public GraphName getDefaultNodeName() { @@ -49,7 +53,7 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener ac = new ActionClient<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE); FibonacciActionGoal goalMessage; int repeat = 3; - int i; + int i = 0; String goalId = "fibonacci_test_"; // Attach listener for the callbacks @@ -66,7 +70,7 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener // set Fibonacci parameter //fibonacciGoal.setOrder(6); - for (i = 0; i < repeat; i++) { + /*for (i = 0; i < repeat; i++) { //sleep(10000); System.out.println("Sending goal #" + i + "..."); goalMessage = (FibonacciActionGoal)ac.newGoalMessage(); @@ -74,12 +78,12 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener ac.sendGoal(goalMessage, goalId + i); System.out.println("Goal sent."); resultReceived = false; - } + }*/ // send another message and cancel it goalId += i; goalMessage = (FibonacciActionGoal)ac.newGoalMessage(); - goalMessage.getGoal().setOrder(i); + goalMessage.getGoal().setOrder(2); System.out.println("Sending goal ID: " + goalId + "..."); ac.sendGoal(goalMessage, goalId); System.out.println("Goal sent."); @@ -122,8 +126,9 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener public void statusReceived(GoalStatusArray status) { List<GoalStatus> statusList = status.getStatusList(); for(GoalStatus gs:statusList) { - //System.out.println("GoalID: " + gs.getGoalId().getId() + " -- GoalStatus: " + gs.getStatus() + " -- " + gs.getText()); + log.info("GoalID: " + gs.getGoalId().getId() + " -- GoalStatus: " + gs.getStatus() + " -- " + gs.getText()); } + log.info("Current state of our goal: " + ClientStateMachine.ClientStates.translateState(ac.getGoalState())); } void sleep(long msec) {