Refactor access to goalCallback

jacobperron · jacobperron · commit 0230bb20cb98 · 2021-01-08T15:23:44.000-08:00
Signed-off-by: Jacob Perron &lt;jacob@openrobotics.org&gt;
diff --git a/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java b/rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java
@@ -328,9 +328,8 @@ private ActionServerGoalHandle<T> executeGoalRequest(
       return null;
     }
 
-    // Workaround type
-    GoalCallback<GoalRequestDefinition> callback = ((ActionServerImpl) this).goalCallback;
     // Call user callback
+    GoalCallback callback = this.goalCallback;
     GoalCallback.GoalResponse response = callback.handleGoal(requestMessage);
 
     boolean accepted = GoalCallback.GoalResponse.ACCEPT == response;

Original file line number	Diff line number	Diff line change
`@@ -328,9 +328,8 @@ private ActionServerGoalHandle<T> executeGoalRequest(`
`328`	`328`	`return null;`
`329`	`329`	`}`
`330`	`330`
`331`		`- // Workaround type`
`332`		`- GoalCallback<GoalRequestDefinition> callback = ((ActionServerImpl) this).goalCallback;`
`333`	`331`	`// Call user callback`
	`332`	`+ GoalCallback callback = this.goalCallback;`
`334`	`333`	`GoalCallback.GoalResponse response = callback.handleGoal(requestMessage);`
`335`	`334`
`336`	`335`	`boolean accepted = GoalCallback.GoalResponse.ACCEPT == response;`