Address PR comments and fix test

Signed-off-by: Mauro Passerino <[email protected]>
ros2 · Sep 18, 2024 · 13a27f6 · 13a27f6
1 parent eb57f71
commit 13a27f6
Show file tree

Hide file tree

Showing 5 changed files with 262 additions and 254 deletions.
diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
@@ -79,16 +79,12 @@ if(BUILD_TESTING)
 
   add_subdirectory(test/benchmark)
 
-  ament_add_gtest(test_ros2_actions test/test_actions.cpp TIMEOUT 180)
-  ament_add_test_label(test_ros2_actions mimick)
-  if(TARGET test_ros2_actions)
-    target_link_libraries(test_ros2_actions
+  ament_add_gtest(test_actions test/test_actions.cpp TIMEOUT 180)
+  ament_add_test_label(test_actions)
+  if(TARGET test_actions)
+    target_link_libraries(test_actions
       ${PROJECT_NAME}
-      mimick
-      rcl::rcl
-      rcl_action::rcl_action
       rclcpp::rclcpp
-      rcutils::rcutils
       ${test_msgs_TARGETS}
     )
   endif()

diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
@@ -352,6 +352,10 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
   }
 
   pimpl_->next_ready_event = std::numeric_limits<size_t>::max();
+  if (is_status_ready) {
+    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
+    return true;
+  }
 
   if (is_goal_response_ready) {
     pimpl_->next_ready_event = static_cast<size_t>(EntityType::GoalClient);
@@ -373,11 +377,6 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
     return true;
   }
 
-  if (is_status_ready) {
-    pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
-    return true;
-  }
-
   return false;
 }