async def _execute_get_result_request(self, request_header_and_message):
request_header, result_request = request_header_and_message
goal_uuid = result_request.goal_id.uuid
self._node.get_logger().debug(
'Result request received for goal with ID: {0}'.format(goal_uuid))
# If no goal with the requested ID exists, then return UNKNOWN status
if bytes(goal_uuid) not in self._goal_handles:
self._node.get_logger().debug(
'Sending result response for unknown goal ID: {0}'.format(
goal_uuid))
result_response = self._action_type.Impl.GetResultService.Response(
)
result_response.status = GoalStatus.STATUS_UNKNOWN
_rclpy_action.rclpy_action_send_result_response(
self._handle,
request_header,
result_response,
)
return
# There is an accepted goal matching the goal ID, register a callback to send the
# response as soon as it's ready
self._goal_handles[bytes(goal_uuid)]._result_future.add_done_callback(
functools.partial(self._send_result_response, request_header))
def _send_result_response(self, request_header, future):
_rclpy_action.rclpy_action_send_result_response(
self._handle,
request_header,
future.result(),
)
