Remove Action prefix from action goal, goal status, feedback and result

Author: gonzalocasas

docs/files/ros2-action-client.py

@@ -23,7 +23,7 @@ def test_action_success(action_client):
     global result
     result = None
 
-    goal = roslibpy.ActionGoal({"order": 8})
+    goal = roslibpy.Goal({"order": 8})
     action_client.send_goal(goal,
                                 result_callback,
                                 feedback_callback,
@@ -45,7 +45,7 @@ def test_action_cancel(action_client):
     global result
     result = None
 
-    goal = roslibpy.ActionGoal({"order": 8})
+    goal = roslibpy.Goal({"order": 8})
     goal_id = action_client.send_goal(goal,
                                     result_callback,
                                     feedback_callback,

src/roslibpy/__init__.py

@@ -90,11 +90,13 @@ class and are passed around via :class:`Topics <Topic>` using a **publish/subscr
 
 .. autoclass:: ActionClient
    :members:
-.. autoclass:: ActionGoal
+.. autoclass:: Goal
    :members:
-.. autoclass:: ActionFeedback
+.. autoclass:: GoalStatus
    :members:
-.. autoclass:: ActionResult
+.. autoclass:: Feedback
+   :members:
+.. autoclass:: Result
    :members:
 
 Parameter server
@@ -129,13 +131,13 @@ class and are passed around via :class:`Topics <Topic>` using a **publish/subscr
 )
 from .core import (
     ActionClient,
-    ActionFeedback,
-    ActionGoal,
-    ActionGoalStatus,
-    ActionResult,
+    Feedback,
+    Goal,
+    GoalStatus,
     Header,
     Message,
     Param,
+    Result,
     Service,
     ServiceRequest,
     ServiceResponse,
@@ -153,19 +155,19 @@ class and are passed around via :class:`Topics <Topic>` using a **publish/subscr
     "__title__",
     "__url__",
     "__version__",
+    "ActionClient",
+    "Feedback",
+    "Goal",
+    "GoalStatus",
     "Header",
     "Message",
     "Param",
+    "Result",
+    "Ros",
     "Service",
     "ServiceRequest",
     "ServiceResponse",
-    "ActionClient",
-    "ActionGoal",
-    "ActionGoalStatus",
-    "ActionFeedback",
-    "ActionResult",
+    "set_rosapi_timeout",
     "Time",
     "Topic",
-    "set_rosapi_timeout",
-    "Ros",
 ]

src/roslibpy/comm/comm.py

@@ -4,11 +4,11 @@
 import logging
 
 from roslibpy.core import (
-    ActionFeedback,
-    ActionGoalStatus,
-    ActionResult,
+    Feedback,
+    GoalStatus,
     Message,
     MessageEncoder,
+    Result,
     ServiceResponse,
 )
 
@@ -151,7 +151,7 @@ def _handle_action_feedback(self, message):
 
         request_id = message["id"]
         _, feedback, _ = self._pending_action_requests.get(request_id, None)
-        feedback(ActionFeedback(message["values"]))
+        feedback(Feedback(message["values"]))
 
     def _handle_action_result(self, message):
         request_id = message["id"]
@@ -170,15 +170,15 @@ def _handle_action_result(self, message):
             status = message["values"].get("status")
         if status is None:
             # Default to UNKNOWN if status is not found
-            status = ActionGoalStatus.UNKNOWN.value
+            status = GoalStatus.UNKNOWN.value
 
         LOGGER.debug("Received Action result with status: %s", status)
 
-        results = {"status": ActionGoalStatus(status), "values": message.get("values", {})}
+        results = {"status": GoalStatus(status), "values": message.get("values", {})}
 
         if "result" in message and message["result"] is False:
             if errback:
                 errback(results)
         else:
             if resultback:
-                resultback(ActionResult(results))
+                resultback(Result(results))

src/roslibpy/core.py

@@ -22,9 +22,10 @@
     "Service",
     "ServiceRequest",
     "ServiceResponse",
-    "ActionGoal",
-    "ActionFeedback",
-    "ActionResult",
+    "Goal",
+    "GoalStatus",
+    "Feedback",
+    "Result",
     "Time",
     "Topic",
 ]
@@ -136,26 +137,26 @@ def __init__(self, values=None):
             self.update(values)
 
 
-class ActionResult(UserDict):
-    """Result returned from a action call."""
+class Result(UserDict):
+    """Result returned from an action call."""
 
     def __init__(self, values=None):
         self.data = {}
         if values is not None:
             self.update(values)
 
 
-class ActionFeedback(UserDict):
-    """Feedback returned from a action call."""
+class Feedback(UserDict):
+    """Feedback returned from an action call."""
 
     def __init__(self, values=None):
         self.data = {}
         if values is not None:
             self.update(values)
 
 
-class ActionGoalStatus(Enum):
-    """ ROS 2 Action Goal statuses.
+class GoalStatus(Enum):
+    """ ROS 2 goal statuses.
         Reference: https://docs.ros2.org/latest/api/action_msgs/msg/GoalStatus.html
     """
 
@@ -168,8 +169,8 @@ class ActionGoalStatus(Enum):
     ABORTED = 6
 
 
-class ActionGoal(UserDict):
-    """Action Goal for an action call."""
+class Goal(UserDict):
+    """Goal for an action call."""
 
     def __init__(self, values=None):
         self.data = {}
@@ -562,7 +563,7 @@ def send_goal(self, goal, resultback, feedback, errback):
         Note: The action client is non-blocking.
 
         Args:
-            goal (:class:`.ActionGoal`): Action goal.
+            goal (:class:`.Goal`): Action goal.
             resultback: Callback invoked on receiving action result.
             feedback: Callback invoked on receiving action feedback.
             errback: Callback invoked on error.

tests/ros2/test_action_client.py

@@ -3,7 +3,7 @@
 from unittest.mock import Mock
 
 from roslibpy.comm.comm import RosBridgeProtocol
-from roslibpy.core import ActionGoalStatus, ActionResult
+from roslibpy.core import GoalStatus, Result
 
 
 def test_action_result_with_status_at_top_level():
@@ -33,8 +33,8 @@ def test_action_result_with_status_at_top_level():
 
     assert result_callback.called
     result = result_callback.call_args[0][0]
-    assert isinstance(result, ActionResult)
-    assert result["status"] == ActionGoalStatus.SUCCEEDED
+    assert isinstance(result, Result)
+    assert result["status"] == GoalStatus.SUCCEEDED
     assert result["values"] == message["values"]
 
 
@@ -71,8 +71,8 @@ def test_action_result_with_status_in_values():
 
     assert result_callback.called
     result = result_callback.call_args[0][0]
-    assert isinstance(result, ActionResult)
-    assert result["status"] == ActionGoalStatus.SUCCEEDED
+    assert isinstance(result, Result)
+    assert result["status"] == GoalStatus.SUCCEEDED
 
 
 def test_action_result_failure_with_status_at_top_level():
@@ -101,7 +101,7 @@ def test_action_result_failure_with_status_at_top_level():
 
     assert error_callback.called
     result = error_callback.call_args[0][0]
-    assert result["status"] == ActionGoalStatus.ABORTED
+    assert result["status"] == GoalStatus.ABORTED
     assert result["values"] == message["values"]
 
 
@@ -136,6 +136,6 @@ def test_action_result_without_status_field():
 
     assert result_callback.called
     result = result_callback.call_args[0][0]
-    assert isinstance(result, ActionResult)
+    assert isinstance(result, Result)
     # Should have some status value (likely UNKNOWN)
     assert "status" in result

tests/ros2/test_actions.py

@@ -2,7 +2,7 @@
 
 import time
 
-from roslibpy import ActionClient, ActionGoal, ActionGoalStatus, Ros
+from roslibpy import ActionClient, Goal, GoalStatus, Ros
 
 
 def test_fibonacci():
@@ -27,13 +27,13 @@ def on_feedback(feedback):
     def on_error(error):
         print(f"Error: {error}")
 
-    goal = ActionGoal({"order": 4})
+    goal = Goal({"order": 4})
     goal_id = action.send_goal(goal, on_result, on_feedback, on_error)
     action.wait_goal(goal_id)
     time.sleep(0.2)
 
     assert results["result"]["values"]["sequence"] == [0, 1, 1, 2, 3]
-    assert results["result"]["status"] == ActionGoalStatus.SUCCEEDED
+    assert results["result"]["status"] == GoalStatus.SUCCEEDED
 
     ros.close()
 
@@ -60,14 +60,14 @@ def on_feedback(feedback):
     def on_error(error):
         print(f"Error: {error}")
 
-    goal = ActionGoal({"order": 10})
+    goal = Goal({"order": 10})
     goal_id = action.send_goal(goal, on_result, on_feedback, on_error)
     time.sleep(2)
     action.cancel_goal(goal_id)
     action.wait_goal(goal_id)
     time.sleep(0.2)
 
-    assert results["result"]["status"] == ActionGoalStatus.CANCELED
+    assert results["result"]["status"] == GoalStatus.CANCELED
 
     ros.close()