One source of truth for status

Author: eitanme

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)
@@ -163,6 +165,8 @@ def _set_feedback(self, 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)
 
@@ -244,15 +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):