From 544115ce237746b004eba2178cdc5ddb1b891de6 Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbellini@ekumenlabs.com>
Date: Mon, 21 Dec 2015 18:04:28 -0300
Subject: [PATCH] Now the fibonacci test sends the result with the correct
info.
---
.../com/github/ekumen/rosjava_actionlib/TestServer.java | 9 +++++----
1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
index e74172c..31f6d49 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java
@@ -27,6 +27,7 @@ public class TestServer extends AbstractNodeMain implements ActionServerListener
@Override
public void onStart(ConnectedNode node) {
FibonacciActionResult result;
+ String id;
as = new ActionServer<FibonacciActionGoal, FibonacciActionFeedback,
FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE,
@@ -38,7 +39,10 @@ public class TestServer extends AbstractNodeMain implements ActionServerListener
if (currentGoal != null) {
result = as.newResultMessage();
result.getResult().setSequence(fibonacciSequence(currentGoal.getGoal().getOrder()));
- as.setSucceed(currentGoal.getGoalId().getId());
+ id = currentGoal.getGoalId().getId();
+ as.setSucceed(id);
+ as.setGoalStatus(result.getStatus(), id);
+ System.out.println("Sending result...");
as.sendResult(result);
currentGoal = null;
}
@@ -48,9 +52,6 @@ public class TestServer extends AbstractNodeMain implements ActionServerListener
@Override
public void goalReceived(FibonacciActionGoal goal) {
System.out.println("Goal received.");
- sleep(2000);
- System.out.println("Sending result...");
- sleep(2000);as.sendResult(as.newResultMessage());
}
@Override
--
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