update to use separated action types (#227)

* match renamed action types * use correct term * update action API * update another caller
ros2 · Mar 12, 2019 · f4d4b14 · f4d4b14
1 parent cfc9bc6
commit f4d4b14
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Showing 4 changed files with 13 additions and 13 deletions.
diff --git a/rclcpp/minimal_action_client/not_composable.cpp b/rclcpp/minimal_action_client/not_composable.cpp
@@ -64,9 +64,9 @@ int main(int argc, char ** argv)
     return 1;
   }
 
-  rclcpp_action::ClientGoalHandle<Fibonacci>::Result result = result_future.get();
+  rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult wrapped_result = result_future.get();
 
-  switch(result.code) {
+  switch(wrapped_result.code) {
     case rclcpp_action::ResultCode::SUCCEEDED:
       break;
     case rclcpp_action::ResultCode::ABORTED:
@@ -81,7 +81,7 @@ int main(int argc, char ** argv)
   }
 
   RCLCPP_INFO(node->get_logger(), "result received");
-  for (auto number : result.response->sequence)
+  for (auto number : wrapped_result.result->sequence)
   {
     RCLCPP_INFO(node->get_logger(), "%" PRId64, number);
   }

diff --git a/rclcpp/minimal_action_client/not_composable_with_cancel.cpp b/rclcpp/minimal_action_client/not_composable_with_cancel.cpp
@@ -90,8 +90,8 @@ int main(int argc, char ** argv)
     return 1;
   }
 
-  rclcpp_action::ClientGoalHandle<Fibonacci>::Result result = result_future.get();
-  switch(result.code) {
+  rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult wrapped_result = result_future.get();
+  switch(wrapped_result.code) {
     case rclcpp_action::ResultCode::SUCCEEDED:
       break;
     case rclcpp_action::ResultCode::ABORTED:

diff --git a/rclcpp/minimal_action_client/not_composable_with_feedback.cpp b/rclcpp/minimal_action_client/not_composable_with_feedback.cpp
@@ -76,9 +76,9 @@ int main(int argc, char ** argv)
     return 1;
   }
 
-  rclcpp_action::ClientGoalHandle<Fibonacci>::Result result = result_future.get();
+  rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult wrapped_result = result_future.get();
 
-  switch(result.code) {
+  switch(wrapped_result.code) {
     case rclcpp_action::ResultCode::SUCCEEDED:
       break;
     case rclcpp_action::ResultCode::ABORTED:
@@ -93,7 +93,7 @@ int main(int argc, char ** argv)
   }
 
   RCLCPP_INFO(g_node->get_logger(), "result received");
-  for (auto number : result.response->sequence)
+  for (auto number : wrapped_result.result->sequence)
   {
     RCLCPP_INFO(g_node->get_logger(), "%" PRId64, number);
   }

diff --git a/rclcpp/minimal_action_server/not_composable.cpp b/rclcpp/minimal_action_server/not_composable.cpp
@@ -53,15 +53,15 @@ void execute(
   auto& sequence = feedback->sequence;
   sequence.push_back(0);
   sequence.push_back(1);
-  auto result_response = std::make_shared<Fibonacci::Result>();
+  auto result = std::make_shared<Fibonacci::Result>();
 
   for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i)
   {
     // Check if there is a cancel request
     if (goal_handle->is_canceling())
     {
-      result_response->sequence = sequence;
-      goal_handle->set_canceled(result_response);
+      result->sequence = sequence;
+      goal_handle->set_canceled(result);
       RCLCPP_INFO(rclcpp::get_logger("server"), "Goal Canceled");
       return;
     }
@@ -76,8 +76,8 @@ void execute(
 
   // Check if goal is done
   if (rclcpp::ok()) {
-    result_response->sequence = sequence;
-    goal_handle->set_succeeded(result_response);
+    result->sequence = sequence;
+    goal_handle->set_succeeded(result);
     RCLCPP_INFO(rclcpp::get_logger("server"), "Goal Suceeded");
   }
 }