Fixing outcomes of ROS states

Author: mgonzs13

yasmin_ros/include/yasmin_ros/action_state.hpp

@@ -311,7 +311,7 @@ template <typename ActionT> class ActionState : public yasmin::State {
    * - `basic_outcomes::CANCEL`: The action was canceled.
    * - `basic_outcomes::TIMEOUT`: The action server was not available in time.
    */
-  std::string execute(yasmin::Blackboard::SharedPtr blackboard) {
+  std::string execute(yasmin::Blackboard::SharedPtr blackboard) override {
 
     std::unique_lock<std::mutex> lock(this->action_done_mutex);
     int retry_count = 0;

yasmin_ros/include/yasmin_ros/monitor_state.hpp

@@ -117,14 +117,15 @@ template <typename MsgT> class MonitorState : public yasmin::State {
                MonitorHandler monitor_handler, rclcpp::QoS qos = 10,
                rclcpp::CallbackGroup::SharedPtr callback_group = nullptr,
                int msg_queue = 10, int timeout = -1, int maximum_retry = 3)
-      : State({basic_outcomes::CANCEL}), topic_name(topic_name),
+      : State(outcomes), topic_name(topic_name),
         monitor_handler(monitor_handler), qos(qos), msg_queue(msg_queue),
         timeout(timeout), maximum_retry(maximum_retry) {
 
-    // set outcomes
+    // Set outcomes
     if (timeout > 0) {
       this->outcomes.insert(basic_outcomes::TIMEOUT);
     }
+    this->outcomes.insert(basic_outcomes::CANCEL);
 
     if (outcomes.size() > 0) {
       for (const std::string &outcome : outcomes) {

yasmin_ros/yasmin_ros/action_state.py

@@ -44,7 +44,7 @@ def __init__(
         action_type: Type,
         action_name: str,
         create_goal_handler: Callable,
-        outcomes: Set[str] = None,
+        outcomes: Set[str] = set(),
         result_handler: Callable = None,
         feedback_handler: Callable = None,
         callback_group: CallbackGroup = None,
@@ -102,13 +102,12 @@ def __init__(
         ## Maximum number of retries.
         self._maximum_retry: int = maximum_retry
 
-        _outcomes = [SUCCEED, ABORT, CANCEL]
+        # Set outcomes
+        outcomes = set(outcomes)
+        outcomes.update({SUCCEED, ABORT, CANCEL})
 
         if self._wait_timeout or self._response_timeout:
-            _outcomes.append(TIMEOUT)
-
-        if outcomes:
-            _outcomes = _outcomes + outcomes
+            outcomes.add(TIMEOUT)
 
         ## Shared pointer to the ROS 2 node.
         self._node: Node = node
@@ -133,7 +132,7 @@ def __init__(
         if not self._create_goal_handler:
             raise ValueError("create_goal_handler is needed")
 
-        super().__init__(_outcomes)
+        super().__init__(outcomes)
 
     def cancel_state(self) -> None:
         """

yasmin_ros/yasmin_ros/monitor_state.py

@@ -77,9 +77,12 @@ def __init__(
         ## Timeout in seconds for message reception.
         self._timeout: int = timeout
 
+        # Set outcomes
+        outcomes = set(outcomes)
+        outcomes.update({CANCEL})
+
         if timeout is not None:
-            outcomes = [TIMEOUT] + outcomes
-        outcomes = [CANCEL] + outcomes
+            outcomes.add(TIMEOUT)
 
         ## Shared pointer to the ROS 2 node.
         self._node: Node = node

yasmin_ros/yasmin_ros/service_state.py

@@ -42,7 +42,7 @@ def __init__(
         srv_type: Type,
         srv_name: str,
         create_request_handler: Callable,
-        outcomes: Set[str] = None,
+        outcomes: Set[str] = set(),
         response_handler: Callable = None,
         callback_group: CallbackGroup = None,
         node: Node = None,
@@ -79,13 +79,12 @@ def __init__(
         ## Timeout for the service response.
         self._response_timeout: float = response_timeout
 
-        _outcomes = [SUCCEED, ABORT]
+        # Set outcomes
+        outcomes = set(outcomes)
+        outcomes.update({SUCCEED, ABORT})
 
         if self._wait_timeout or self._response_timeout:
-            _outcomes.append(TIMEOUT)
-
-        if outcomes:
-            _outcomes = _outcomes + outcomes
+            outcomes.add(TIMEOUT)
 
         ## The ROS 2 node used to communicate with the service.
         self._node = node
@@ -116,7 +115,7 @@ def __init__(
         ## Event to signal when the service response is received.
         self._response_received_event: Event = Event()
 
-        super().__init__(_outcomes)
+        super().__init__(outcomes)
 
     def execute(self, blackboard: Blackboard) -> str:
         """