Fix case function misuse in simple-action-server :set-preempted

jsk-ros-pkg · Nov 3, 2022 · f98bb70 · f98bb70
1 parent e8e7b1c
commit f98bb70
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/roseus/euslisp/actionlib.l b/roseus/euslisp/actionlib.l
@@ -350,11 +350,13 @@
   (:set-preempted
    (&optional (msg (send self :result)) (text ""))
    (ros::ros-info ";; Cancel Goal ~A" (send goal-id :id))
-   (case status
-     ((actionlib_msgs::GoalStatus::*pending* actionlib_msgs::GoalStatus::*recalling*)
+   (cond
+     ((or (= status actionlib_msgs::GoalStatus::*pending*)
+          (= status actionlib_msgs::GoalStatus::*recalling*))
       (setq status actionlib_msgs::GoalStatus::*recalled*)
       )
-     ((actionlib_msgs::GoalStatus::*active* actionlib_msgs::GoalStatus::*preepmpting*)
+     ((or (= status actionlib_msgs::GoalStatus::*active*)
+          (= status actionlib_msgs::GoalStatus::*preempting*))
       (setq status actionlib_msgs::GoalStatus::*preempted*)
       ))
    (send self :publish-result msg text))