Bite Selection: Second Click

[amalnanavati]

In the current implementation of the real food segmentation action server (ada_feeding#24), the action server rejects any new goals until the old goal is done completing.

However, on the app side, if the user clicks on the image again while the action server is still executing the first action, the app displays "The robot encountered an error detecting food" which is a misleading error message.

Of course one way to address this is to disable additional clicks of the image while the app is waiting to hear back from an action server. However, this is undesirable, because if an action server messes up and doesn't return, we don't want to prevent the user from re-clicking.

So instead, the app should probably keep a counter of the number of open (i.e., a result, error, or cancellation hasn't yet been received) action server goal requests it sent. If that number is is > 1 and it receives a cancellation response, instead of displaying the "robot encountered an error" message, it should display "Robot is currently processing a previous click" message.