Behaviors access result (#3704)

* onCycle has access to the result * revert * pr review
ros-navigation · Jul 27, 2023 · 2f1f9e4 · 2f1f9e4
1 parent cb34d0c
commit 2f1f9e4
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -105,7 +105,7 @@ class TimedBehavior : public nav2_core::Behavior
   }
 
   // an opportunity for a derived class to do something on action completion
-  virtual void onActionCompletion()
+  virtual void onActionCompletion(std::shared_ptr<typename ActionT::Result>/*result*/)
   {
   }
 
@@ -230,8 +230,8 @@ class TimedBehavior : public nav2_core::Behavior
         RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str());
         stopRobot();
         result->total_elapsed_time = elasped_time_;
+        onActionCompletion(result);
         action_server_->terminate_all(result);
-        onActionCompletion();
         return;
       }
 
@@ -243,8 +243,8 @@ class TimedBehavior : public nav2_core::Behavior
           behavior_name_.c_str());
         stopRobot();
         result->total_elapsed_time = steady_clock_.now() - start_time;
+        onActionCompletion(result);
         action_server_->terminate_current(result);
-        onActionCompletion();
         return;
       }
 
@@ -255,16 +255,16 @@ class TimedBehavior : public nav2_core::Behavior
             logger_,
             "%s completed successfully", behavior_name_.c_str());
           result->total_elapsed_time = steady_clock_.now() - start_time;
+          onActionCompletion(result);
           action_server_->succeeded_current(result);
-          onActionCompletion();
           return;
 
         case Status::FAILED:
           RCLCPP_WARN(logger_, "%s failed", behavior_name_.c_str());
           result->total_elapsed_time = steady_clock_.now() - start_time;
           result->error_code = on_cycle_update_result.error_code;
+          onActionCompletion(result);
           action_server_->terminate_current(result);
-          onActionCompletion();
           return;
 
         case Status::RUNNING:

diff --git a/nav2_behaviors/plugins/assisted_teleop.cpp b/nav2_behaviors/plugins/assisted_teleop.cpp
@@ -71,7 +71,7 @@ ResultStatus AssistedTeleop::onRun(const std::shared_ptr<const AssistedTeleopAct
   return ResultStatus{Status::SUCCEEDED, AssistedTeleopActionResult::NONE};
 }
 
-void AssistedTeleop::onActionCompletion()
+void AssistedTeleop::onActionCompletion(std::shared_ptr<AssistedTeleopActionResult>/*result*/)
 {
   teleop_twist_ = geometry_msgs::msg::Twist();
   preempt_teleop_ = false;

diff --git a/nav2_behaviors/plugins/assisted_teleop.hpp b/nav2_behaviors/plugins/assisted_teleop.hpp
@@ -51,7 +51,7 @@ class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
   /**
    * @brief func to run at the completion of the action
    */
-  void onActionCompletion() override;
+  void onActionCompletion(std::shared_ptr<AssistedTeleopActionResult>/*result*/) override;
 
   /**
    * @brief Loop function to run behavior