Added goal to GoalHandle (#92)

* Added goal field to GoalHandle.
* Made goal field private and added getter.

Author: jstnhuang

src/actions/ActionServer.js

@@ -103,7 +103,7 @@ class ActionServer extends EventEmitter {
       return false;
     }
 
-    handle = new GoalHandle(msg.goal_id, this);
+    handle = new GoalHandle(msg.goal_id, this, GoalStatuses.PENDING, msg.goal);
     this._goalHandleList.push(handle);
     this._goalHandleCache[handle.id] = handle;
 

src/actions/GoalHandle.js

@@ -25,7 +25,14 @@ let GoalStatus = null;
 let GoalStatuses = null;
 
 class GoalHandle {
-  constructor(goalId, actionServer, status) {
+  /**
+   * goalId: An actionlib_msgs/GoalID.
+   * actionServer: The ActionServer processing this goal
+   * status: A number from actionlib_msgs/GoalStatus, like GoalStatuses.PENDING.
+   * goal: The goal message, e.g., a FibonacciGoal. May be left undefined if
+   *  this goal is used to represent a cancellation.
+   */
+  constructor(goalId, actionServer, status, goal) {
     if (goalId.id === '') {
       goalId = actionServer.generateGoalId();
     }
@@ -48,6 +55,8 @@ class GoalHandle {
       goal_id: goalId
     });
 
+    this._goal = goal;
+
     this._destructionTime = timeUtils.epoch();
   }
 
@@ -73,6 +82,10 @@ class GoalHandle {
     return this._status;
   }
 
+  getGoal() {
+    return this._goal;
+  }
+
   publishFeedback(feedback) {
     this._as.publishFeedback(this._status, feedback);
   }