From 3fc1f48737b22cbbb5731c4d87d280dbbd587969 Mon Sep 17 00:00:00 2001
From: Eitan Marder-Eppstein <eitan@hippoharvest.com>
Date: Mon, 24 Jan 2022 11:33:41 -0800
Subject: [PATCH 1/3] Wait for both terminal status and result before marking a
 goal as finished

---
 src/roslibpy/actionlib.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/roslibpy/actionlib.py b/src/roslibpy/actionlib.py
index a18ffc7..5f5dbb9 100644
--- a/src/roslibpy/actionlib.py
+++ b/src/roslibpy/actionlib.py
@@ -150,14 +150,22 @@ def _trigger_timeout(self):
 
     def _set_status(self, status):
         self.status = status
+        if self.is_finished:
+            self.wait_result.set()
 
     def _set_result(self, result):
         self.result = result
-        self.wait_result.set()
+        if self.is_finished:
+            self.wait_result.set()
 
     def _set_feedback(self, feedback):
         self.feedback = feedback
 
+    @property
+    def is_active(self):
+        return (self.status['status'] == GoalStatus.ACTIVE or
+                self.status['status'] == GoalStatus.PENDING)
+
     @property
     def is_finished(self):
         """Indicate if the goal is finished or not.
@@ -165,7 +173,7 @@ def is_finished(self):
         Returns:
             bool: True if finished, False otherwise.
         """
-        return self.result is not None
+        return self.result is not None and not self.is_active
 
 
 class ActionClient(EventEmitterMixin):

From ea06b3297b137ecfef0009dc31bf340c11a2411d Mon Sep 17 00:00:00 2001
From: Eitan Marder-Eppstein <eitan@hippoharvest.com>
Date: Mon, 24 Jan 2022 11:57:18 -0800
Subject: [PATCH 2/3] One source of truth for status

---
 src/roslibpy/actionlib.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/roslibpy/actionlib.py b/src/roslibpy/actionlib.py
index 5f5dbb9..76517b8 100644
--- a/src/roslibpy/actionlib.py
+++ b/src/roslibpy/actionlib.py
@@ -120,6 +120,8 @@ def send(self, result_callback=None, timeout=None):
         if result_callback:
             self.on('result', result_callback)
 
+        self.status = {'status': GoalStatus.PENDING}
+
         self.action_client.goal_topic.publish(self.goal_message)
         if timeout:
             self.action_client.ros.call_later(timeout, self._trigger_timeout)
@@ -163,6 +165,8 @@ def _set_feedback(self, feedback):
 
     @property
     def is_active(self):
+        if self.status is None:
+            return False
         return (self.status['status'] == GoalStatus.ACTIVE or
                 self.status['status'] == GoalStatus.PENDING)
 
@@ -244,7 +248,6 @@ def _on_feedback_message(self, message):
         goal = self.goals.get(goal_id, None)
 
         if goal:
-            goal.emit('status', message['status'])
             goal.emit('feedback', message['feedback'])
 
     def _on_result_message(self, message):
@@ -252,7 +255,6 @@ def _on_result_message(self, message):
         goal = self.goals.get(goal_id, None)
 
         if goal:
-            goal.emit('status', message['status'])
             goal.emit('result', message['result'])
 
     def add_goal(self, goal):

From 4c9e5991cea3dbeb99c3d5a7ff54c1c125136ebc Mon Sep 17 00:00:00 2001
From: Eitan Marder-Eppstein <eitan@hippoharvest.com>
Date: Mon, 24 Jan 2022 11:57:26 -0800
Subject: [PATCH 3/3] Update changelog

---
 CHANGELOG.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 4dd5d22..490b357 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -18,6 +18,9 @@ Unreleased
 
 **Fixed**
 
+* Fixed #87 where a goal could be marked as terminal on result alone rather
+  than both result and status.
+
 **Deprecated**
 
 **Removed**