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brawner wants to merge 2 commits into from
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Set promise value after try-catch #1292

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eedb3e6
Set promise value after try-catch
brawner Sep 8, 2020
84f383f
Move goal_response_callback earlier
brawner Sep 10, 2020
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19 changes: 11 additions & 8 deletions rclcpp_action/include/rclcpp_action/client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -262,7 +262,7 @@ class Client : public ClientBase
using GoalHandle = ClientGoalHandle<ActionT>;
using WrappedResult = typename GoalHandle::WrappedResult;
using GoalResponseCallback =
std::function<void (std::shared_future<typename GoalHandle::SharedPtr>)>;
std::function<void (typename GoalHandle::SharedPtr)>;
using FeedbackCallback = typename GoalHandle::FeedbackCallback;
using ResultCallback = typename GoalHandle::ResultCallback;
using CancelRequest = typename ActionT::Impl::CancelGoalService::Request;
Expand Down Expand Up @@ -360,7 +360,7 @@ class Client : public ClientBase
if (!goal_response->accepted) {
promise->set_value(nullptr);
if (options.goal_response_callback) {
options.goal_response_callback(future);
options.goal_response_callback(nullptr);
}
return;
}
Expand All @@ -370,13 +370,9 @@ class Client : public ClientBase
// Do not use std::make_shared as friendship cannot be forwarded.
std::shared_ptr<GoalHandle> goal_handle(
new GoalHandle(goal_info, options.feedback_callback, options.result_callback));
{
std::lock_guard<std::mutex> guard(goal_handles_mutex_);
goal_handles_[goal_handle->get_goal_id()] = goal_handle;
}
promise->set_value(goal_handle);

if (options.goal_response_callback) {
options.goal_response_callback(future);
options.goal_response_callback(goal_handle);
}

if (options.result_callback) {
Expand All @@ -387,6 +383,13 @@ class Client : public ClientBase
return;
}
}

{
std::lock_guard<std::mutex> guard(goal_handles_mutex_);
goal_handles_[goal_handle->get_goal_id()] = goal_handle;
}

promise->set_value(goal_handle);
});

// TODO(jacobperron): Encapsulate into it's own function and
Expand Down
3 changes: 1 addition & 2 deletions rclcpp_action/test/test_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -435,9 +435,8 @@ TEST_F(TestClientAgainstServer, async_send_goal_with_goal_response_callback_wait
auto send_goal_ops = rclcpp_action::Client<ActionType>::SendGoalOptions();
send_goal_ops.goal_response_callback =
[&goal_response_received]
(std::shared_future<typename ActionGoalHandle::SharedPtr> future) mutable
(typename ActionGoalHandle::SharedPtr goal_handle) mutable
{
auto goal_handle = future.get();
if (goal_handle) {
goal_response_received = true;
}
Expand Down