action result now returns status

docs/files/ros2-action-client.py

@@ -5,30 +5,69 @@
 
 global result
 
-client = roslibpy.Ros(host="localhost", port=9090)
-client.run()
-
-action_client = roslibpy.ActionClient(client,
-                                      "/fibonacci",
-                                      "custom_action_interfaces/action/Fibonacci")
-result = None
-
 def result_callback(msg):
     global result
-    result = msg["result"]
+    result = msg
+    print("Action result:", msg)
 
 def feedback_callback(msg):
     print(f"Action feedback: {msg['partial_sequence']}")
 
 def fail_callback(msg):
     print(f"Action failed: {msg}")
 
-goal_id = action_client.send_goal(roslibpy.ActionGoal({"order": 8}),
-                                  result_callback,
-                                  feedback_callback,
-                                  fail_callback)
 
-while result == None:
-    time.sleep(1)
+def test_action_success(action_client):
+    """ This test function sends a action goal to an Action server.
+    """
+    global result
+    result = None
 
-print("Action result: {}".format(result["sequence"]))
+    action_client.send_goal(roslibpy.ActionGoal({"order": 8}),
+                                result_callback,
+                                feedback_callback,
+                                fail_callback)
+
+    while result == None:
+        time.sleep(1)
+
+    print("-----------------------------------------------")
+    print("Action status:", result["status"])
+    print("Action result: {}".format(result["values"]["sequence"]))
+
+
+def test_action_cancel(action_client):
+    """ This test function sends a cancel request to an Action server.
+        NOTE: Cancel request is not functional for now...
+    """
+    global result
+    result = None
+
+    goal_id = action_client.send_goal(roslibpy.ActionGoal({"order": 8}),
+                                    result_callback,
+                                    feedback_callback,
+                                    fail_callback)
+    time.sleep(3)
+    print("Sending action goal cancel request...")
+    action_client.cancel_goal(goal_id)
+
+    while result == None:
+        time.sleep(1)
+
+    print("-----------------------------------------------")
+    print("Action status:", result["status"])
+    print("Action result: {}".format(result["values"]["sequence"]))
+
+
+if __name__ == "__main__":
+    client = roslibpy.Ros(host="localhost", port=9090)
+    client.run()
+
+    action_client = roslibpy.ActionClient(client,
+                                        "/fibonacci",
+                                      "custom_action_interfaces/action/Fibonacci")
+    print("\n** Starting action client test **")
+    test_action_success(action_client)
+
+    print("\n** Starting action goal cancelation test **")
+    test_action_cancel(action_client)

src/roslibpy/__init__.py

@@ -131,6 +131,7 @@ class and are passed around via :class:`Topics <Topic>` using a **publish/subscr
     ActionClient,
     ActionFeedback,
     ActionGoal,
+    ActionGoalStatus,
     ActionResult,
     Header,
     Message,
@@ -160,6 +161,7 @@ class and are passed around via :class:`Topics <Topic>` using a **publish/subscr
     "ServiceResponse",
     "ActionClient",
     "ActionGoal",
+    "ActionGoalStatus",
     "ActionFeedback",
     "ActionResult",
     "Time",

src/roslibpy/comm/comm.py

@@ -5,6 +5,7 @@
 
 from roslibpy.core import (
     ActionFeedback,
+    ActionGoalStatus,
     ActionResult,
     Message,
     MessageEncoder,
@@ -162,9 +163,13 @@ def _handle_action_result(self, message):
         resultback, _ , errback = action_handlers
         del self._pending_action_requests[request_id]
 
+        LOGGER.debug("Received Action result with status: %s", message["status"])
+
+        results = {"status": ActionGoalStatus(message["status"]).name, "values": message["values"]}
+
         if "result" in message and message["result"] is False:
             if errback:
-                errback(message["values"])
+                errback(results)
         else:
             if resultback:
-                resultback(ActionResult(message["values"]))
+                resultback(ActionResult(results))

src/roslibpy/core.py

@@ -3,6 +3,7 @@
 import json
 import logging
 import time
+from enum import Enum
 
 # Python 2/3 compatibility import list
 try:
@@ -152,6 +153,20 @@ def __init__(self, values=None):
             self.update(values)
 
 
+class ActionGoalStatus(Enum):
+    """ ROS2 Action Goal statuses.
+        Reference: https://docs.ros2.org/latest/api/action_msgs/msg/GoalStatus.html
+    """
+
+    UNKNOWN = 0
+    ACCEPTED = 1
+    EXECUTING = 2
+    CANCELING = 3
+    SUCCEEDED = 4
+    CANCELED = 5
+    ABORTED = 6
+
+
 class ActionGoal(UserDict):
     """Action Goal for an action call."""
 
@@ -589,6 +604,7 @@ def cancel_goal(self, goal_id):
         )
         self.ros.send_on_ready(message)
         # Remove message_id from RosBridgeProtocol._pending_action_requests in comms.py?
+        # Not needed since an action result is returned upon cancelation.
 
 
 class Param(object):