Merge branch 'main' into validate_time_input

Author: gonzalocasas

CHANGELOG.rst

@@ -13,11 +13,14 @@ Unreleased
 **Added**
 
 * Added function to set the default timeout value.
+* Added ROS host and port parameters to the command-line interface.
 
 **Changed**
 
 **Fixed**
 
+* Fixed #87 where a goal could be marked as terminal on result alone rather
+  than both result and status.
 * Ensure input of ``Time`` is always two integers.
 
 **Deprecated**

src/roslibpy/__main__.py

@@ -99,6 +99,8 @@ def main():
     import argparse
 
     parser = argparse.ArgumentParser(description='roslibpy command-line utility')
+    parser.add_argument('-r', '--ros-host', type=str, help='ROS host name or IP address', default='localhost')
+    parser.add_argument('-p', '--ros-port', type=int, help='ROS bridge port', default=9090)
 
     commands = parser.add_subparsers(help='commands')
     commands.dest = 'command'
@@ -186,7 +188,7 @@ def main():
 
     # Invoke
     args = parser.parse_args()
-    ros = roslibpy.Ros('localhost', 9090)
+    ros = roslibpy.Ros(args.ros_host, args.ros_port)
 
     try:
         ros.run()

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)
@@ -150,22 +152,32 @@ def _trigger_timeout(self):
 
     def _set_status(self, status):
         self.status = status
+        if self.is_finished:
+            self.wait_result.set()
 
     def _set_result(self, result):
         self.result = result
-        self.wait_result.set()
+        if self.is_finished:
+            self.wait_result.set()
 
     def _set_feedback(self, feedback):
         self.feedback = 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)
+
     @property
     def is_finished(self):
         """Indicate if the goal is finished or not.
 
         Returns:
             bool: True if finished, False otherwise.
         """
-        return self.result is not None
+        return self.result is not None and not self.is_active
 
 
 class ActionClient(EventEmitterMixin):
@@ -236,15 +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):