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Remake of "fix: Fixed race condition in action server between is_ready and take" #2495

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merged 2 commits into from
Apr 9, 2024
Merged

Remake of "fix: Fixed race condition in action server between is_ready and take" #2495

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34ec478
fix: Fixed race condition in action server between is_ready and take_…
Apr 4, 2024
d864f81
style fixups
wjwwood Apr 9, 2024
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24 changes: 19 additions & 5 deletions rclcpp_action/include/rclcpp_action/server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <unordered_map>
#include <utility>

#include "action_msgs/srv/cancel_goal.hpp"
#include "rcl/event_callback.h"
#include "rcl_action/action_server.h"
#include "rosidl_runtime_c/action_type_support_struct.h"
Expand Down Expand Up @@ -77,6 +78,7 @@ class ServerBase : public rclcpp::Waitable
GoalService,
ResultService,
CancelService,
Expired,
};

RCLCPP_ACTION_PUBLIC
Expand Down Expand Up @@ -279,19 +281,29 @@ class ServerBase : public rclcpp::Waitable
/// \internal
RCLCPP_ACTION_PUBLIC
void
execute_goal_request_received(const std::shared_ptr<void> & data);
execute_goal_request_received(
rcl_ret_t ret,
rcl_action_goal_info_t goal_info,
rmw_request_id_t request_header,
std::shared_ptr<void> message);

/// Handle a request to cancel goals on the server
/// \internal
RCLCPP_ACTION_PUBLIC
void
execute_cancel_request_received(const std::shared_ptr<void> & data);
execute_cancel_request_received(
rcl_ret_t ret,
std::shared_ptr<action_msgs::srv::CancelGoal::Request> request,
rmw_request_id_t request_header);

/// Handle a request to get the result of an action
/// \internal
RCLCPP_ACTION_PUBLIC
void
execute_result_request_received(const std::shared_ptr<void> & data);
execute_result_request_received(
rcl_ret_t ret,
std::shared_ptr<void> result_request,
rmw_request_id_t request_header);

/// Handle a timeout indicating a completed goal should be forgotten by the server
/// \internal
Expand Down Expand Up @@ -345,7 +357,8 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act

/// Signature of a callback that accepts or rejects goal requests.
using GoalCallback = std::function<GoalResponse(
const GoalUUID &, std::shared_ptr<const typename ActionT::Goal>)>;
const GoalUUID &,
std::shared_ptr<const typename ActionT::Goal>)>;
/// Signature of a callback that accepts or rejects requests to cancel a goal.
using CancelCallback = std::function<CancelResponse(std::shared_ptr<ServerGoalHandle<ActionT>>)>;
/// Signature of a callback that is used to notify when the goal has been accepted.
Expand Down Expand Up @@ -455,7 +468,8 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
void
call_goal_accepted_callback(
std::shared_ptr<rcl_action_goal_handle_t> rcl_goal_handle,
GoalUUID uuid, std::shared_ptr<void> goal_request_message) override
GoalUUID uuid,
std::shared_ptr<void> goal_request_message) override
{
std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle;
std::weak_ptr<Server<ActionT>> weak_this = this->shared_from_this();
Expand Down
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