From ead8f66edf6d9cc42099e14021087408fa2d771c Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbellini@ekumenlabs.com>
Date: Wed, 20 Jan 2016 15:00:27 -0300
Subject: [PATCH] Fixed goal setter. Added method to obtain the goal state.
---
.../ekumen/rosjava_actionlib/ActionGoal.java | 2 +-
.../rosjava_actionlib/ClientGoalManager.java | 15 ++++++++++++---
2 files changed, 13 insertions(+), 4 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 c45658a..1db7244 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 19719b5..93a8b17 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;
+ }
}
--
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