From 26a7fdc7845b3979f9ca2dff907e090a9718ce1e Mon Sep 17 00:00:00 2001
From: Tim Clephas <tim.clephas@nobleo.nl>
Date: Wed, 14 Feb 2024 17:56:20 +0100
Subject: [PATCH] Allow setting result in cancel and abort as well

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
---
 rclpy/rclpy/action/server.py | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
index e79af03be..106e0ed7c 100644
--- a/rclpy/rclpy/action/server.py
+++ b/rclpy/rclpy/action/server.py
@@ -120,6 +120,16 @@ def _update_state(self, event):
             if not self._goal_handle.is_active():
                 self._action_server.notify_goal_done()
 
+    def _set_result(self, response):
+        # Set result
+        result_response = self._action_server._action_type.Impl.GetResultService.Response()
+        result_response.status = self.status
+        if response is not None:
+            result_response.result = response
+        else:
+            result_response.result = self._action_server._action_type.Result()
+        self._action_server._result_futures[bytes(self.goal_id.uuid)].set_result(result_response)
+
     def execute(self, execute_callback=None):
         # It's possible that there has been a request to cancel the goal prior to executing.
         # In this case we want to avoid the illegal state transition to EXECUTING
@@ -151,21 +161,15 @@ def executing(self):
 
     def succeed(self, response=None):
         self._update_state(_rclpy.GoalEvent.SUCCEED)
+        self._set_result(response)
 
-        # Set result
-        result_response = self._action_server._action_type.Impl.GetResultService.Response()
-        result_response.status = self.status
-        if response is not None:
-            result_response.result = response
-        else:
-            result_response.result = self._action_server._action_type.Result()
-        self._action_server._result_futures[bytes(self.goal_id.uuid)].set_result(result_response)
-
-    def abort(self):
+    def abort(self, response=None):
         self._update_state(_rclpy.GoalEvent.ABORT)
+        self._set_result(response)
 
-    def canceled(self):
+    def canceled(self, response=None):
         self._update_state(_rclpy.GoalEvent.CANCELED)
+        self._set_result(response)
 
     def destroy(self):
         with self._lock: