Back to cancel_as_success=False but make cancel of indefinite wait to…

… report success. Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>
Karelics · Sep 12, 2024 · c412b2c · c412b2c
1 parent c2f1c6f
commit c412b2c
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/task_manager/task_manager/tasks/system_tasks.py b/task_manager/task_manager/tasks/system_tasks.py
@@ -164,7 +164,10 @@ def _execute_cb(self, goal_handle: ServerGoalHandle) -> Wait.Result:
 
         while rclpy.ok() and self._node.get_clock().now() < end_time:
             if goal_handle.is_cancel_requested:
-                goal_handle.canceled()
+                if duration_in_seconds <= 0.0:
+                    goal_handle.succeed()
+                else:
+                    goal_handle.canceled()
                 return Wait.Result()
 
             if not goal_handle.is_active:
@@ -194,7 +197,7 @@ def get_task_specs(topic: str) -> TaskSpecs:
             blocking=True,
             cancel_on_stop=True,
             topic=topic,
-            cancel_reported_as_success=True,
+            cancel_reported_as_success=False,
             reentrant=False,
             msg_interface=Wait,
             task_server_type=TaskServerType.ACTION,

diff --git a/task_manager/test/integration_tests/test_system_tasks.py b/task_manager/test/integration_tests/test_system_tasks.py
@@ -128,8 +128,7 @@ def test_wait_task(self) -> None:
             wait_result = goal_handle.get_result()
 
             self.assertEqual(cancel_response.status, GoalStatus.STATUS_SUCCEEDED)
-            # If the task would not stay waiting, the status would be DONE
-            self.assertEqual(wait_result.result.task_status, TaskStatus.CANCELED)
+            self.assertEqual(wait_result.result.task_status, TaskStatus.DONE)
             self.assertEqual(wait_result.result.task_result, json.dumps({}))
 
         with self.subTest("Input duration is zero - Wait indefinitely"):
@@ -141,8 +140,7 @@ def test_wait_task(self) -> None:
             wait_result = goal_handle.get_result()
 
             self.assertEqual(cancel_response.status, GoalStatus.STATUS_SUCCEEDED)
-            # If the task would not stay waiting with duration 0.0, the status would be DONE
-            self.assertEqual(wait_result.result.task_status, TaskStatus.CANCELED)
+            self.assertEqual(wait_result.result.task_status, TaskStatus.DONE)
             self.assertEqual(wait_result.result.task_result, json.dumps({}))