fixed the logic for when to not send a stopped status
diff --git a/frc971/actions/action.h b/frc971/actions/action.h
index 528d36d..9a4ddac 100644
--- a/frc971/actions/action.h
+++ b/frc971/actions/action.h
@@ -52,10 +52,13 @@
LOG(INFO, "Done with action %" PRIx32 "\n", running_id);
// If we have a new one to run, we shouldn't say we're stopped in between.
- if (action_q_->goal->run == 0) {
+ if (action_q_->goal->run != 0 && action_q_->goal->run != running_id) {
if (!action_q_->status.MakeWithBuilder().running(0).Send()) {
LOG(ERROR, "Failed to send the status.\n");
}
+ } else {
+ LOG(INFO, "skipping sending stopped status for %" PRIx32 "\n",
+ running_id);
}
while (action_q_->goal->run == running_id) {
@@ -63,6 +66,7 @@
running_id);
action_q_->goal.FetchNextBlocking();
}
+ LOG(DEBUG, "action %" PRIx32 " was stopped\n", running_id);
}
}