def _update_state(self, event):
with self._lock:
# Ignore updates for already destructed goal handles
if self._handle is None:
return
# Update state
_rclpy_action.rclpy_action_update_goal_state(self._handle, event.value)
# Publish state change
_rclpy_action.rclpy_action_publish_status(self._action_server._handle)
# If it's a terminal state, then also notify the action server
if not _rclpy_action.rclpy_action_goal_handle_is_active(self._handle):
self._action_server.notify_goal_done()
def is_active(self):
with self._lock:
if self._handle is None:
return False
return _rclpy_action.rclpy_action_goal_handle_is_active(
self._handle)
