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google_chat_ros: enable to get therad_name message result #516

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google_chat_ros: enable to get therad_name message result #516

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fbd4770
google_chat_ros: enable to return message result
k-okada Oct 26, 2023
34ad00e
google_chat_ros: enable to pass action client to get message result
k-okada Oct 26, 2023
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24 changes: 12 additions & 12 deletions google_chat_ros/scripts/google-chat.l
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,11 @@
(ros::roseus "google_chat_eus_client")

(defun send-google-chat-text (space content
&key (thread-name nil) (action-goal-name "google_chat_ros/send") (wait t))
&key (thread-name nil) (action-goal-name "google_chat_ros/send") (wait t)
(ac (instance ros::simple-action-client :init
action-goal-name google_chat_ros::SendMessageAction)))
(wait (boundp 'google_chat_ros::SendMessageAction)
(let ((goal (instance google_chat_ros::SendMessageActionGoal :init))
(ac (instance ros::simple-action-client :init
action-goal-name google_chat_ros::SendMessageAction)))
(let ((goal (instance google_chat_ros::SendMessageActionGoal :init)))
(when (send ac :wait-for-server 1)
(when (eq (send ac :get-state) actionlib_msgs::GoalStatus::*active*)
(send ac :cancel-goal)
Expand All @@ -19,17 +19,17 @@
(send goal :goal :text content)
(send ac :send-goal goal)
(if wait
(return-from send-google-chat-text (send ac :wait-for-result :timeout 5))
(return-from send-google-chat-text (if (send ac :wait-for-result :timeout 5) (send ac :get-result) nil))
(return-from send-google-chat-text t))))))

(defun send-google-chat-image
(space image-path
&key (image-header "") (thread-name nil)
(action-goal-name "google_chat_ros/send") (wait t))
(action-goal-name "google_chat_ros/send") (wait t)
(ac (instance ros::simple-action-client :init
action-goal-name google_chat_ros::SendMessageAction)))
(when (boundp 'google_chat_ros::SendMessageAction)
(let ((goal (instance google_chat_ros::SendMessageActionGoal :init))
(ac (instance ros::simple-action-client :init
action-goal-name google_chat_ros::SendMessageAction))
(let ((goal (instance google_chat_ros::SendMessageActionGoal :init)))
(card (instance google_chat_ros::Card :init))
(section (instance google_chat_ros::Section :init))
(widget (instance google_chat_ros::WidgetMarkup :init))
Expand Down Expand Up @@ -72,11 +72,11 @@
;; buttons should be list
(space buttons
&key (buttons-header "") (thread-name nil)
(action-goal-name "google_chat_ros/send") (wait nil))
(action-goal-name "google_chat_ros/send") (wait nil)
(ac (instance ros::simple-action-client :init
action-goal-name google_chat_ros::SendMessageAction)))
(when (boundp 'google_chat_ros::SendMessageAction)
(let ((goal (instance google_chat_ros::SendMessageActionGoal :init))
(ac (instance ros::simple-action-client :init
action-goal-name google_chat_ros::SendMessageAction))
(card (instance google_chat_ros::Card :init))
(section (instance google_chat_ros::Section :init))
(widget (instance google_chat_ros::WidgetMarkup :init)))
Expand Down
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