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 c45658aa725d49a3df67493281f3ded44ed24318..1db7244f736150472abf4b6d7498652d435151ca 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 @@ -223,7 +223,7 @@ public class ActionGoal<T_ACTION_GOAL extends Message> { } public void setActionGoalMessage(T_ACTION_GOAL agm) { - + goalMessage = agm; } public Message getGoalMessage() { 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 19719b5ff45ab04ff4d2ee12c8728358eafba4b4..93a8b17245908503465dd93d4e4bbae43b4ec04a 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 @@ -25,8 +25,8 @@ import actionlib_msgs.GoalStatus; * @author Ernesto Corbellini ecorbellini@ekumenlabs.com */ public class ClientGoalManager<T_ACTION_GOAL extends Message> { - public ActionGoal<T_ACTION_GOAL> actionGoal = null; - public ClientStateMachine stateMachine = null; + ActionGoal<T_ACTION_GOAL> actionGoal = null; + ClientStateMachine stateMachine = null; public ClientGoalManager(ActionGoal<T_ACTION_GOAL> ag) { actionGoal = ag; @@ -40,7 +40,8 @@ public class ClientGoalManager<T_ACTION_GOAL extends Message> { public void setGoal(T_ACTION_GOAL agm) { ActionGoal<T_ACTION_GOAL> ag = new ActionGoal(); - ag.setGoalMessage(agm); + ag.setActionGoalMessage(agm); + setGoal(ag); } public boolean cancelGoal() { @@ -50,4 +51,12 @@ public class ClientGoalManager<T_ACTION_GOAL extends Message> { public void updateStatus(int status) { stateMachine.transition(status); } + + public int getGoalState() { + int ret = -666; + if (stateMachine != null) { + ret = stateMachine.getState(); + } + return ret; + } }