Multiple changes

.gitignore

@@ -2,5 +2,14 @@ devel/
 build/
 .gradle/
 *.*~
-src/CMakeLists.txt
 .catkin_workspace
+
+# Java build artifacts class files
+*.class
+
+# other generated files
+bin/
+gen/
+build/
+
+rosjava_actionlib/bin

src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java → rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java

@@ -78,7 +78,7 @@ public class ActionClient<T_ACTION_GOAL extends Message,
    * @param actionResultType A string with the type information for the result
    * message.
    */
-  ActionClient (ConnectedNode node, String actionName, String actionGoalType,
+  public ActionClient (ConnectedNode node, String actionName, String actionGoalType,
     String actionFeedbackType, String actionResultType) {
     this.node = node;
     this.actionName = actionName;
@@ -103,7 +103,7 @@ public void attachListener(ActionClientListener target) {
     */
   public void sendGoal(T_ACTION_GOAL agMessage, String id) {
     GoalID gid = getGoalId(agMessage);
-    if (id == "") {
+    if (id.equals("")) {
       goalIdGenerator.generateID(gid);
     } else {
       gid.setId(id);
@@ -293,9 +293,10 @@ public void gotStatus(GoalStatusArray message) {
     if (gstat != null) {
       // update the goal status tracking
       goalManager.updateStatus(gstat.getStatus());
-    } else {
-      log.info("Status update is not for our goal!");
     }
+    // else {
+    //   log.info("Status update is not for our goal!");
+    // }
     // Propagate the callback
     if (callbackTarget != null) {
       callbackTarget.statusReceived(message);

src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java → rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionServer.java

@@ -78,7 +78,7 @@ private class ServerGoal {
    * @param actionResultType String holding the type for the action result
    * message.
    */
-  ActionServer (ConnectedNode node, String actionName, String actionGoalType,
+  public ActionServer (ConnectedNode node, String actionName, String actionGoalType,
     String actionFeedbackType, String actionResultType) {
     this.node = node;
     this.actionName = actionName;
@@ -314,6 +314,17 @@ public void setSucceed(String goalIdString) {
     }
   }
 
+  /**
+   * Express a aborted event for this goal. The state of the goal will be updated.
+   */
+  public void setAborted(String goalIdString) {
+    try {
+      goalTracker.get(goalIdString).state.transition(ServerStateMachine.Events.ABORT);
+    }
+    catch (Exception e) {
+    }
+  }
+
   /**
    * Set goal ID and state information to the goal status message.
    * @param gstat GoalStatus message.

src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java → rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ServerStateMachine.java

@@ -35,7 +35,7 @@ public static class Events {
 
   private int state;
 
-  ServerStateMachine() {
+  public ServerStateMachine() {
     // Initial state
     state = GoalStatus.PENDING;
   }