Made 2 action_client callbacks as optional

erlef · Jan 8, 2022 · f1b628c · f1b628c
1 parent b0c65a5
commit f1b628c
Show file tree

Hide file tree

Showing 3 changed files with 20 additions and 10 deletions.
diff --git a/demos/cancel_action_client/src/cancel_action_client.erl b/demos/cancel_action_client/src/cancel_action_client.erl
@@ -68,11 +68,15 @@ handle_cast({on_get_result_reply,
     io:format("Result received: ~p\n", [Seq]),
     {noreply, S};
 handle_cast({on_cancel_goal_reply,
-             #action_msgs_cancel_goal_rp{return_code = Code, goals_canceling = Seq}},
+             #action_msgs_cancel_goal_rp{return_code = 0, goals_canceling = Seq}},
             S) ->
-    io:format("Cancel operation returned: ~p \nGoals that are being cancelled:\n", [Code]),
-    [io:format("\t~p\n", [ID])
-     || #action_msgs_goal_info{goal_id = #unique_identifier_msgs_u_u_i_d{uuid = ID}} <- Seq],
+    io:format("Cancel operation succeded\nGoals that are being cancelled:\n"),
+    [io:format("\t~p\n", [ID]) || #action_msgs_goal_info{goal_id = #unique_identifier_msgs_u_u_i_d{uuid = ID}} <- Seq],
+    {noreply, S};
+handle_cast({on_cancel_goal_reply,
+             #action_msgs_cancel_goal_rp{return_code = 1}},
+            S) ->
+    io:format("Goal failed to cancel\n"),
     {noreply, S};
 handle_cast({on_feedback_message,
              #example_interfaces_fibonacci_feedback_message{sequence = Seq}},

diff --git a/rosie/ros/src/behaviours/gen_action_client_listener.erl b/rosie/ros/src/behaviours/gen_action_client_listener.erl
@@ -5,4 +5,4 @@
 -callback on_cancel_goal_reply(Listener :: pid(), Msg :: term()) -> term().
 -callback on_feedback_message(Listener :: pid(), Msg :: term()) -> term().
 
--optional_callbacks([on_cancel_goal_reply/2]).
+-optional_callbacks([on_cancel_goal_reply/2,on_feedback_message/2]).
diff --git a/rosie/ros/src/ros_action_client.erl b/rosie/ros/src/ros_action_client.erl
@@ -133,14 +133,14 @@ handle_call(_, _, S) ->
     {reply, ok, S}.
 
 handle_cast({on_service_reply, Msg},
-            #state{action_interface = AI, callback_handler = {M, Pid}} = S) ->
+            #state{action_interface = AI, callback_handler = { M, Pid} = CA} = S) ->
     case AI:identify_msg(Msg) of
         send_goal_rp ->
             M:on_send_goal_reply(Pid, Msg);
         get_result_rp ->
             M:on_get_result_reply(Pid, Msg);
         cancel_goal_rp ->
-            M:on_cancel_goal_reply(Pid, Msg);
+            h_handle_cancel_goal_reply(Msg, CA);
         _ ->
             io:format("[ROS_ACTION_CLIENT]: BAD MSG RECEIVED FROM SERVICE\n")
     end,
@@ -222,7 +222,13 @@ h_handle_status_update(GoalStatusArrayMsg, S) ->
     S.
 
 h_handle_feedback_message(Msg, #state{action_interface= ActionModule, callback_handler = {M, Pid}, goal_id = CURRENT_GOAL_ID}) ->
-    case ActionModule:get_goal_id(Msg) of
-        CURRENT_GOAL_ID -> M:on_feedback_message(Pid, Msg);
+    case {erlang:function_exported(M, on_feedback_message, 2), ActionModule:get_goal_id(Msg)} of
+        {true, CURRENT_GOAL_ID} -> M:on_feedback_message(Pid, Msg);
         _ -> ok
-    end.
+    end.
+
+h_handle_cancel_goal_reply(Msg, { M, Pid}) -> 
+    case erlang:function_exported(M, on_cancel_goal_reply, 2) of
+        true -> M:on_cancel_goal_reply(Pid, Msg);
+        false -> ok
+    end.