From 35b68ded1ffb86cbdb328e22945e71e0093540ed Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbellini@ekumenlabs.com>
Date: Mon, 18 Jan 2016 18:50:09 -0300
Subject: [PATCH] Fix issues so it compiles.
---
.../com/github/ekumen/rosjava_actionlib/ActionGoal.java | 2 +-
.../ekumen/rosjava_actionlib/ClientGoalManager.java | 9 +++++----
.../ekumen/rosjava_actionlib/ClientStateMachine.java | 4 ++--
3 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java
index 1a368c3..6bc5fd2 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionGoal.java
@@ -237,7 +237,7 @@ public class ActionGoal<T_ACTION_GOAL extends Message, T_GOAL extends Message> {
}
- public boolean equals(ActionGoal<T_ACTION_GOAL> ag) {
+ public boolean equals(ActionGoal ag) {
return (this.getGoalId() == ag.getGoalId());
}
}
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
index c8be6c5..3b23d89 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientGoalManager.java
@@ -16,6 +16,7 @@
package com.github.ekumen.rosjava_actionlib;
+import org.ros.internal.message.Message;
import actionlib_msgs.GoalID;
import actionlib_msgs.GoalStatus;
@@ -23,17 +24,17 @@ import actionlib_msgs.GoalStatus;
* Class that binds and action goal with a state machine to track its state.
* @author Ernesto Corbellini ecorbellini@ekumenlabs.com
*/
-public class ClientGoalManager<T_ACTION_GOAL extends Message> {
- public ActionGoal<T_ACTION_GOAL> actionGoal = null;
+public class ClientGoalManager<T_ACTION_GOAL extends Message, T_GOAL extends Message> {
+ public ActionGoal<T_ACTION_GOAL, T_GOAL> actionGoal = null;
public ClientStateMachine stateMachine = null;
- public void sendGoal(ActionGoal<T_ACTION_GOAL> ag) {
+ public void sendGoal(ActionGoal<T_ACTION_GOAL, T_GOAL> ag) {
actionGoal = ag;
stateMachine = new ClientStateMachine();
stateMachine.setState(ClientStateMachine.ClientStates.WAITING_FOR_GOAL_ACK);
}
public boolean cancelGoal() {
- return stateMachine.cancelGoal();
+ return stateMachine.cancel();
}
}
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
index 58f5010..ec025fe 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ClientStateMachine.java
@@ -417,8 +417,8 @@ public class ClientStateMachine {
* @return True if the goal can be cancelled, false otherwise.
*/
public boolean cancel() {
- bolean ret = false;
- switch (stateMachine.getState()) {
+ boolean ret = false;
+ switch (state) {
case ClientStates.WAITING_FOR_GOAL_ACK:
case ClientStates.PENDING:
case ClientStates.ACTIVE:
--
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