From a107029c631c82babd21cb52ffb5f6e66c568691 Mon Sep 17 00:00:00 2001 From: Stephen Brawner Date: Tue, 8 Sep 2020 18:23:07 -0700 Subject: [PATCH 1/2] Use valid clock in case of issue Signed-off-by: Stephen Brawner --- rcl_action/src/rcl_action/action_server.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c index 626101e2f..0eb7a16c3 100644 --- a/rcl_action/src/rcl_action/action_server.c +++ b/rcl_action/src/rcl_action/action_server.c @@ -170,9 +170,12 @@ rcl_action_server_init( PUBLISHER_INIT(feedback); PUBLISHER_INIT(status); - // Initialize Timer + // Copy clock + action_server->impl->clock = *clock; + +// Initialize Timer ret = rcl_timer_init( - &action_server->impl->expire_timer, clock, node->context, options->result_timeout.nanoseconds, + &action_server->impl->expire_timer, &action_server->impl->clock, node->context, options->result_timeout.nanoseconds, NULL, allocator); if (RCL_RET_OK != ret) { goto fail; @@ -182,10 +185,7 @@ rcl_action_server_init( if (RCL_RET_OK != ret) { goto fail; } - - // Copy clock - action_server->impl->clock = *clock; - + // Copy action name action_server->impl->action_name = rcutils_strdup(action_name, allocator); if (NULL == action_server->impl->action_name) { From 4ff7f9c7f0ae30fcfe7113b29abc65e6856323a4 Mon Sep 17 00:00:00 2001 From: Stephen Brawner Date: Wed, 9 Sep 2020 11:25:33 -0700 Subject: [PATCH 2/2] Cleanup Signed-off-by: Stephen Brawner --- rcl_action/src/rcl_action/action_server.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c index 0eb7a16c3..61cbd0ff2 100644 --- a/rcl_action/src/rcl_action/action_server.c +++ b/rcl_action/src/rcl_action/action_server.c @@ -175,8 +175,8 @@ rcl_action_server_init( // Initialize Timer ret = rcl_timer_init( - &action_server->impl->expire_timer, &action_server->impl->clock, node->context, options->result_timeout.nanoseconds, - NULL, allocator); + &action_server->impl->expire_timer, &action_server->impl->clock, node->context, + options->result_timeout.nanoseconds, NULL, allocator); if (RCL_RET_OK != ret) { goto fail; } @@ -185,7 +185,7 @@ rcl_action_server_init( if (RCL_RET_OK != ret) { goto fail; } - + // Copy action name action_server->impl->action_name = rcutils_strdup(action_name, allocator); if (NULL == action_server->impl->action_name) {