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avoid the same action client executable is being executed more than once. #1409

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avoid the same action client executable is being executed more than once. #1409

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13 changes: 12 additions & 1 deletion rclcpp_action/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,7 @@ class ClientBaseImpl
bool is_goal_response_ready{false};
bool is_cancel_response_ready{false};
bool is_result_response_ready{false};
std::mutex is_anything_ready_mutex;

rclcpp::Context::SharedPtr context_;
rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
Expand Down Expand Up @@ -260,6 +261,7 @@ ClientBase::add_to_wait_set(rcl_wait_set_t * wait_set)
bool
ClientBase::is_ready(rcl_wait_set_t * wait_set)
{
std::lock_guard<std::mutex> guard(pimpl_->is_anything_ready_mutex);
rcl_ret_t ret = rcl_action_client_wait_set_get_entities_ready(
wait_set, pimpl_->client_handle.get(),
&pimpl_->is_feedback_ready,
Expand Down Expand Up @@ -383,11 +385,13 @@ ClientBase::generate_goal_id()
void
ClientBase::execute()
{
std::unique_lock<std::mutex> ready_lock(pimpl_->is_anything_ready_mutex);
if (pimpl_->is_feedback_ready) {
std::shared_ptr<void> feedback_message = this->create_feedback_message();
rcl_ret_t ret = rcl_action_take_feedback(
pimpl_->client_handle.get(), feedback_message.get());
pimpl_->is_feedback_ready = false;
ready_lock.unlock();
if (RCL_RET_OK == ret) {
this->handle_feedback_message(feedback_message);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
Expand All @@ -398,6 +402,7 @@ ClientBase::execute()
rcl_ret_t ret = rcl_action_take_status(
pimpl_->client_handle.get(), status_message.get());
pimpl_->is_status_ready = false;
ready_lock.unlock();
if (RCL_RET_OK == ret) {
this->handle_status_message(status_message);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
Expand All @@ -409,6 +414,7 @@ ClientBase::execute()
rcl_ret_t ret = rcl_action_take_goal_response(
pimpl_->client_handle.get(), &response_header, goal_response.get());
pimpl_->is_goal_response_ready = false;
ready_lock.unlock();
if (RCL_RET_OK == ret) {
this->handle_goal_response(response_header, goal_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
Expand All @@ -420,6 +426,7 @@ ClientBase::execute()
rcl_ret_t ret = rcl_action_take_result_response(
pimpl_->client_handle.get(), &response_header, result_response.get());
pimpl_->is_result_response_ready = false;
ready_lock.unlock();
if (RCL_RET_OK == ret) {
this->handle_result_response(response_header, result_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
Expand All @@ -431,13 +438,17 @@ ClientBase::execute()
rcl_ret_t ret = rcl_action_take_cancel_response(
pimpl_->client_handle.get(), &response_header, cancel_response.get());
pimpl_->is_cancel_response_ready = false;
ready_lock.unlock();
if (RCL_RET_OK == ret) {
this->handle_cancel_response(response_header, cancel_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
}
} else {
throw std::runtime_error("Executing action client but nothing is ready");
ready_lock.unlock();
// Ignore this case, the MultiThreadedExecutor might have scheduled this waitable
// for execution more than once.
RCLCPP_DEBUG(pimpl_->logger, "Executing action client but nothing is ready");
}
}

Expand Down