def take_data(self):
"""Take stuff from lower level so the wait set doesn't immediately wake again."""
data = {}
if self._is_goal_response_ready:
data['goal'] = _rclpy_action.rclpy_action_take_goal_response(
self._client_handle, self._action_type.GoalRequestService.Response)
if self._is_cancel_response_ready:
data['cancel'] = _rclpy_action.rclpy_action_take_cancel_response(
self._client_handle, self._action_type.CancelGoalService.Response)
if self._is_result_response_ready:
data['result'] = _rclpy_action.rclpy_action_take_result_response(
self._client_handle, self._action_type.GoalResultService.Response)
if self._is_feedback_ready:
data['feedback'] = _rclpy_action.rclpy_action_take_feedback(
self._client_handle, self._action_type.Feedback)
if self._is_status_ready:
data['status'] = _rclpy_action.rclpy_action_take_status(
self._client_handle, self._action_type.GoalStatusMessage)
if not data:
return None
return data
def take_data(self):
"""Take stuff from lower level so the wait set doesn't immediately wake again."""
data = {}
if self._is_goal_response_ready:
taken_data = _rclpy_action.rclpy_action_take_goal_response(
self._client_handle,
self._action_type.Impl.SendGoalService.Response)
# If take fails, then we get (None, None)
if all(taken_data):
data['goal'] = taken_data
if self._is_cancel_response_ready:
taken_data = _rclpy_action.rclpy_action_take_cancel_response(
self._client_handle,
self._action_type.Impl.CancelGoalService.Response)
# If take fails, then we get (None, None)
if all(taken_data):
data['cancel'] = taken_data
if self._is_result_response_ready:
taken_data = _rclpy_action.rclpy_action_take_result_response(
self._client_handle,
self._action_type.Impl.GetResultService.Response)
# If take fails, then we get (None, None)
if all(taken_data):
data['result'] = taken_data
if self._is_feedback_ready:
taken_data = _rclpy_action.rclpy_action_take_feedback(
self._client_handle, self._action_type.Impl.FeedbackMessage)
# If take fails, then we get None
if taken_data is not None:
data['feedback'] = taken_data
if self._is_status_ready:
taken_data = _rclpy_action.rclpy_action_take_status(
self._client_handle, self._action_type.Impl.GoalStatusMessage)
# If take fails, then we get None
if taken_data is not None:
data['status'] = taken_data
return data