From 9266e66502e9b0c532673c1c35f7c4a6fb2cc58d Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbellini@ekumenlabs.com>
Date: Mon, 21 Dec 2015 18:03:42 -0300
Subject: [PATCH] Added a method to build the status message information.
---
.../ekumen/rosjava_actionlib/ActionServer.java | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
index 1514840..a2fbed9 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java
@@ -314,6 +314,21 @@ public class ActionServer<T_ACTION_GOAL extends Message,
}
}
+ /**
+ * Set goal ID and state information to the goal status message.
+ * @param gstat GoalStatus message.
+ * @param gidString String identifying the goal.
+ * @see actionlib_msgs.GoalStatus
+ */
+ public void setGoalStatus(GoalStatus gstat, String gidString) {
+ try {
+ ServerGoal serverGoal = goalTracker.get(gidString);
+ gstat.setGoalId(getGoalId(serverGoal.goal));
+ gstat.setStatus((byte)serverGoal.state.getState());
+ }
+ catch (Exception e) {
+ }
+ }
/**
* Publishes the server's topics and suscribes to the client's topics.
*/
--
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