checkin

Author: esteve

examples/minimal_action_server/src/minimal_action_server.rs

@@ -26,7 +26,36 @@ fn handle_cancel(_goal_handle: Arc<GoalHandleFibonacci>) -> rclrs::CancelRespons
 
 fn execute(goal_handle: Arc<GoalHandleFibonacci>) {
     println!("Executing goal");
-    thread::sleep(std::time::Duration::from_millis(100));
+    let feedback = example_interfaces::action::Fibonacci_Feedback {
+        sequence: Vec::new(),
+    };
+    feedback.sequence.push(0);
+    feedback.sequence.push(1);
+    let result = example_interfaces::action::Fibonacci_Result {
+        sequence: Vec::new(),
+    };
+
+    let mut i = 1;
+    while i < goal_handle.goal().unwrap().order && rclrs::ok() {
+        if goal_handle.is_canceling() {
+            result.sequence = feedback.sequence.clone();
+            goal_handle.canceled(&result);
+            println!("Goal canceled");
+            return;
+        }
+        // Update sequence
+        feedback.sequence.push(feedback.sequence[i as usize] + feedback.sequence[(i - 1) as usize]);
+        // Publish feedback
+        goal_handle.publish_feedback(&feedback);
+        println!("Publishing feedback");
+        thread::sleep(std::time::Duration::from_millis(100));
+    }
+    // Check if goal is done
+    if rclrs::ok() {
+        result.sequence = feedback.sequence.clone();
+        goal_handle.succeed(&result);
+        println!("Goal succeeded");
+    }
 }
 
 fn handle_accepted(goal_handle: Arc<GoalHandleFibonacci>) {

rclrs/src/action.rs

@@ -80,15 +80,15 @@ where
 {
     pub(crate) fn new(rcl_handle: Arc<rcl_action_goal_handle_t>) {}
 
-    pub(crate) fn is_canceling() -> bool {
+    pub(crate) fn is_canceling(&self) -> bool {
         false
     }
 
-    pub(crate) fn is_active() -> bool {
+    pub(crate) fn is_active(&self) -> bool {
         false
     }
 
-    pub(crate) fn is_executing() -> bool {
+    pub(crate) fn is_executing(&self) -> bool {
         false
     }
 }