Address @basicNew's comments.

src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java

@@ -89,7 +89,7 @@ public class ClientStateMachine {
     }
   }
 
-  public int latestGoalStatus;
+  int latestGoalStatus;
   int state;
   int nextState;
   private Log log = LogFactory.getLog(ActionClient.class);
@@ -439,17 +439,14 @@ public class ClientStateMachine {
    * @return True if the goal can be cancelled, false otherwise.
    */
   public boolean cancel() {
-    boolean ret;
     ArrayList<Integer> cancellableStates = new ArrayList<>(Arrays.asList(ClientStates.WAITING_FOR_GOAL_ACK,
         ClientStates.PENDING, ClientStates.ACTIVE));
+    boolean shouldCancel = cancellableStates.contains(state);
 
-        if (cancellableStates.contains(state)) {
+    if (shouldCancel) {
       state = ClientStates.WAITING_FOR_CANCEL_ACK;
-          ret = true;
-        } else {
-          ret = false;
     }
-    return ret;
+    return shouldCancel;
   }
 
   public void resultReceived() {
@@ -462,4 +459,8 @@ public class ClientStateMachine {
   public void markAsLost()
   {
   }
+
+  public int getLatestGoalStatus() {
+    return latestGoalStatus;
+  }
 }

src/rosjava_actionlib/rosjava_actionlib/src/test/java/TestClientStateMachine.java

@@ -17,65 +17,36 @@ public class TestClientStateMachine {
 
   @Test
   public void testGetState() {
-      // Setup
     int expectedState = ClientStateMachine.ClientStates.WAITING_FOR_GOAL_ACK;
     int actualState;
-      
     subject.setState(expectedState);
-      
-      // Optional: Precondition
-      
-      // Exercise
     actualState = subject.getState();
-      
-      // Assertion - Postcondition
     assertEquals(expectedState, actualState);
   }
 
   @Test
   public void testSetState() {
-       // Setup
     int expectedState = ClientStateMachine.ClientStates.WAITING_FOR_GOAL_ACK;
-     
-      // Optional: Precondition 
     assertEquals(subject.getState(), 0);
-      
-      // Exercise
     subject.setState(expectedState);
-      
-      // Assertion - Postcondition
     assertEquals(expectedState, subject.getState());
   }
 
   @Test
   public void testUpdateStatusWhenStateIsNotDone() {
-       // Setup
     int expectedStatus = 7;
     subject.setState(ClientStateMachine.ClientStates.WAITING_FOR_GOAL_ACK);
-     
-      // Optional: Precondition 
-      assertEquals(0, subject.latestGoalStatus);
-      
-      // Exercise
+    assertEquals(0, subject.getLatestGoalStatus());
     subject.updateStatus(expectedStatus);
-      
-      // Assertion - Postcondition
-      assertEquals(expectedStatus, subject.latestGoalStatus);
+    assertEquals(expectedStatus, subject.getLatestGoalStatus());
   }
 
   @Test
   public void testUpdateStatusWhenStateIsDone() {
-       // Setup
     subject.setState(ClientStateMachine.ClientStates.DONE);
-     
-      // Optional: Precondition 
-      assertEquals(0, subject.latestGoalStatus);
-      
-      // Exercise
+    assertEquals(0, subject.getLatestGoalStatus());
     subject.updateStatus(7);
-      
-      // Assertion - Postcondition
-      assertEquals(0, subject.latestGoalStatus);
+    assertEquals(0, subject.getLatestGoalStatus());
   }
 
   @Test
@@ -99,18 +70,14 @@ public class TestClientStateMachine {
 
   private void checkCancelOnInitialCancellableState(int initialState) {
     subject.setState(initialState);
-      
     assertTrue("Failed test on initial state " + initialState, subject.cancel());
-      
     assertEquals("Failed test on initial state " + initialState, ClientStateMachine.ClientStates.WAITING_FOR_CANCEL_ACK, subject.getState());
   }
 
 
   private void checkCancelOnInitialNonCancellableState(int initialState) {
     subject.setState(initialState);
-      
     assertFalse("Failed test on initial state " + initialState, subject.cancel());
-      
     assertEquals("Failed test on initial state " + initialState, initialState, subject.getState());
   }