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Refactor server goal handle's try_canceling() function (#603)

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Makes use of rcl_action_goal_handle_is_cancelable() for one less rcl_action call.
This commit is contained in:
Jacob Perron 2019-01-08 11:52:51 -08:00 • committed by Shane Loretz
parent 22abd62e31
commit 5c92811739
1 changed files with 6 additions and 17 deletions
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23
rclcpp_action/src/server_goal_handle.cpp
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@ -111,30 +111,19 @@ bool
ServerGoalHandleBase::try_canceling() noexcept ServerGoalHandleBase::try_canceling() noexcept
{ {
std::lock_guard<std::mutex> lock(rcl_handle_mutex_); std::lock_guard<std::mutex> lock(rcl_handle_mutex_);
// Check if the goal reached a terminal state already
const bool active = rcl_action_goal_handle_is_active(rcl_handle_.get());
if (!active) {
return false;
}
rcl_ret_t ret; rcl_ret_t ret;
// Check if the goal is cancelable
// Get the current state const bool is_cancelable = rcl_action_goal_handle_is_cancelable(rcl_handle_.get());
rcl_action_goal_state_t state = GOAL_STATE_UNKNOWN; if (is_cancelable) {
ret = rcl_action_goal_handle_get_status(rcl_handle_.get(), &state); // Transition to CANCELING
if (RCL_RET_OK != ret) {
return false;
}
// If it's not already canceling then transition to that state
if (GOAL_STATE_CANCELING != state) {
ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCEL); ret = rcl_action_update_goal_state(rcl_handle_.get(), GOAL_EVENT_CANCEL);
if (RCL_RET_OK != ret) { if (RCL_RET_OK != ret) {
return false; return false;
} }
} }
// Get the state again rcl_action_goal_state_t state = GOAL_STATE_UNKNOWN;
// Get the current state
ret = rcl_action_goal_handle_get_status(rcl_handle_.get(), &state); ret = rcl_action_goal_handle_get_status(rcl_handle_.get(), &state);
if (RCL_RET_OK != ret) { if (RCL_RET_OK != ret) {
return false; return false;