Public API Changes
ClientGoalHandler (client_goal_handler.js, action_client.d.ts)

deprecated accepting getter
added convenience methods: isAccepting(), isExecuting(), isCanceling(), isSucceeded(), isCanceled(), isAborted(). These methods are not essential. Thus will leave it to the reviewer's discretion of whether they stay or go. The same for Initiate the project #1 above.
status property is now properly updated with the goal lifecycle state codes, see ActionInterfaces.GoalStatus for codes
getResult() now returns a ActionResult. Previously it returned an internal message with structure {status: number, result: ActionResult<T>}.
ClientGoalHandle feedback function now only receives a ActionFeedback<T> argument. Previously ActionFallback<T> function was receiving an internal msg with structure {goal_id: UUID, feedback: ActionFeedback}`.
Description
A bug was submitted where ClientGoalHandler.getResult() was returning an internal message that did not conform to the TypeScript declarations. Additionally the ClientGoalHandler.status was never being updated and always return UNKNOWN. Lastly while fixing the getResult() bug it was discovered that the feedbackCallback function was being sent an internal message and not the expected ActionFeedback<T> type. This fix resolves all 3 issues.

I added beforeSetResult(result) method to Deferred.js class. This is used by the ActionClient _getResult(resultMsg) method to update the ClientGoalHandler.status and to return only the msg.result property of type ActionResult<t>.

Updated all action related tests and examples.

Fixed several prettier/lint issues.

Fix #813

• Commit 5f84174
• Branch develop

Wayne Parrott authored GitHub committed