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process_cancel_request no longer changes goal state (#341)

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Shane Loretz 2018-11-27 15:05:38 -08:00 • committed by GitHub
parent f531f682ea
commit 15ac20738c
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 6 additions and 8 deletions
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5
rcl_action/include/rcl_action/action_server.h
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@ -659,7 +659,8 @@ rcl_action_take_cancel_request(
/**
* This is a non-blocking call.
*
* This function will transition one or more active goals to the state CANCELING.
* This function will compute a list of goals that a cancelation request is attempting to cancel.
* It does not change the state of any goal.
* The following cancel policy applies based on the goal ID and the timestamp
* contained in the cancel request:
*
@ -682,7 +683,7 @@ rcl_action_take_cancel_request(
* \param[in] action_server handle to the action server that will process the cancel request
* \param[in] cancel_request a C-typed ROS cancel request to process
* \param[out] cancel_reponse a zero-initialized cancel response struct
* where the response is copied
* where the goal info of goals which should be cancelled are copied
* \return `RCL_RET_OK` if the response was sent successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or

9
rcl_action/src/rcl_action/action_server.c
View file

@ -678,15 +678,12 @@ rcl_action_process_cancel_request(
goto cleanup;
}
// Transition goals to canceling and add to response
// Add goal info to output struct
rcl_action_goal_handle_t * goal_handle;
for (size_t i = 0u; i < num_goals_to_cancel; ++i) {
goal_handle = goal_handles_to_cancel[i];
ret = rcl_action_update_goal_state(goal_handle, GOAL_EVENT_CANCEL);
if (RCL_RET_OK == ret) {
ret = rcl_action_goal_handle_get_info(
goal_handle, &cancel_response->msg.goals_canceling.data[i]);
}
ret = rcl_action_goal_handle_get_info(
goal_handle, &cancel_response->msg.goals_canceling.data[i]);
if (RCL_RET_OK != ret) {
ret_final = RCL_RET_ERROR; // error already set
}