feat(SimpleActionServer): add setAborted method (#362)

RobotWebTools · May 5, 2020 · aafcfe2 · aafcfe2
1 parent 506eb32
commit aafcfe2
Showing 1 changed file with 21 additions and 0 deletions.
diff --git a/src/actionlib/SimpleActionServer.js b/src/actionlib/SimpleActionServer.js
@@ -171,6 +171,27 @@ SimpleActionServer.prototype.setSucceeded = function(result2) {
     }
 };
 
+/**
+*  Set action state to aborted and return to client
+*/
+
+SimpleActionServer.prototype.setAborted = function(result2) {
+    var resultMessage = new Message({
+        status : {goal_id : this.currentGoal.goal_id, status : 4},
+        result : result2
+    });
+    this.resultPublisher.publish(resultMessage);
+
+    this.statusMessage.status_list = [];
+    if(this.nextGoal) {
+        this.currentGoal = this.nextGoal;
+        this.nextGoal = null;
+        this.emit('goal', this.currentGoal.goal);
+    } else {
+        this.currentGoal = null;
+    }
+};
+
 /**
 *  Function to send feedback
 */