/* public void updateFeedback<TFeedback> (ClientGoalHandle<ActionSpec> gh, TFeedback actionFeedback) where TFeedback : AActionFeedback, new()
* {
* // Check if this feedback is for us
* if ( actionGoal.GoalID.id != actionFeedback.GoalStatus.goal_id.id )
* // if ( actionGoal.goal_id.id != actionFeedback.status.goal_id.id )
* return;
*
* if ( feedbackCallback != null )
* {
* // EnclosureDeleter<const ActionFeedback> d(actionFeedback);
* // FeedbackConstPtr feedback(&(actionFeedback->feedback), d);
* AFeedback feedback = actionFeedback.Feedback.Clone ();
* feedbackCallback ( gh, feedback );
* }
* }*/
public void updateResult(ClientGoalHandle <ActionSpec> gh, AActionResult actionResult)
{
// Check if this feedback is for us
if (actionGoal.GoalID.id != actionResult.GoalStatus.goal_id.id)
{
// if ( actionGoal.goal_id.id != actionResult.status.goal_id.id )
return;
}
latest_goal_status_ = actionResult.GoalStatus;
// latest_goal_status_ = actionResult.status;
latestResult = actionResult;
switch (state.state)
{
case CommState.StateEnum.WAITING_FOR_GOAL_ACK:
case CommState.StateEnum.PENDING:
case CommState.StateEnum.ACTIVE:
case CommState.StateEnum.WAITING_FOR_RESULT:
case CommState.StateEnum.WAITING_FOR_CANCEL_ACK:
case CommState.StateEnum.RECALLING:
case CommState.StateEnum.PREEMPTING:
{
// A little bit of hackery to call all the right state transitions before processing result
gsarray statusArray = new gsarray();
List <gstat> list = new List <gstat> (statusArray.status_list);
list.Add(actionResult.GoalStatus);
// list.Add ( actionResult.status );
statusArray.status_list = list.ToArray();
updateStatus(gh, statusArray);
transitionToState(gh, CommState.StateEnum.DONE);
break;
}
case CommState.StateEnum.DONE:
ROS.Error("actionlib", "Got a result when we were already in the DONE state");
break;
default:
ROS.Error("actionlib", "In a funny comm state: %u", state.state);
break;
}
}
public void updateResults(AActionResult actionResult)
{
lock ( lockObject )
{
var iter = list.GetIterator();
while (iter.GetElement() != null)
{
ClientGoalHandle <ActionSpec> gh = new ClientGoalHandle <ActionSpec> (this, iter.CreateHandle(), guard);
iter.GetElement().updateResult(gh, actionResult);
iter++;
}
// for ( int i = 0; i < list.Count; i++ )
// foreach ( CommStateMachine<ActionSpec> item in list )
// {
// CommStateMachine<ActionSpec> item = list [ i ];
// ClientGoalHandle<ActionSpec> gh = new ClientGoalHandle<ActionSpec> ( this, item.createHandle (), guard );
// item.updateResult ( gh, actionResult );
// }
}
}
public ActionResultDecorator(AActionResult ar)
{
_actionResult = ar;
}
