Merge pull request #88 from eitanme/wait-on-terminal-status

Wait for both terminal status and result before marking a goal as finished

Author: gonzalocasas

CHANGELOG.rst

@@ -19,6 +19,9 @@ Unreleased
 
 **Fixed**
 
+* Fixed #87 where a goal could be marked as terminal on result alone rather
+  than both result and status.
+
 **Deprecated**
 
 **Removed**

src/roslibpy/actionlib.py

@@ -120,6 +120,8 @@ def send(self, result_callback=None, timeout=None):
         if result_callback:
             self.on('result', result_callback)
 
+        self.status = {'status': GoalStatus.PENDING}
+
         self.action_client.goal_topic.publish(self.goal_message)
         if timeout:
             self.action_client.ros.call_later(timeout, self._trigger_timeout)
@@ -150,22 +152,32 @@ def _trigger_timeout(self):
 
     def _set_status(self, status):
         self.status = status
+        if self.is_finished:
+            self.wait_result.set()
 
     def _set_result(self, result):
         self.result = result
-        self.wait_result.set()
+        if self.is_finished:
+            self.wait_result.set()
 
     def _set_feedback(self, feedback):
         self.feedback = feedback
 
+    @property
+    def is_active(self):
+        if self.status is None:
+            return False
+        return (self.status['status'] == GoalStatus.ACTIVE or
+                self.status['status'] == GoalStatus.PENDING)
+
     @property
     def is_finished(self):
         """Indicate if the goal is finished or not.
 
         Returns:
             bool: True if finished, False otherwise.
         """
-        return self.result is not None
+        return self.result is not None and not self.is_active
 
 
 class ActionClient(EventEmitterMixin):
@@ -236,15 +248,13 @@ def _on_feedback_message(self, message):
         goal = self.goals.get(goal_id, None)
 
         if goal:
-            goal.emit('status', message['status'])
             goal.emit('feedback', message['feedback'])
 
     def _on_result_message(self, message):
         goal_id = message['status']['goal_id']['id']
         goal = self.goals.get(goal_id, None)
 
         if goal:
-            goal.emit('status', message['status'])
             goal.emit('result', message['result'])
 
     def add_goal(self, goal):