fix(ros2): reject non-positive action server result_timeout#822
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maciejmajek merged 2 commits intoJul 22, 2026
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Fail closed when create_action_server receives a non-positive or non-numeric result_timeout (bool rejected). Prevents undefined rclpy ActionServer result lifecycle cleanup with invalid timeouts. Signed-off-by: Bartok9 <danielrpike9@gmail.com>
maciejmajek
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Thanks for the contrib! Similarly to the previous PR, the added test will create a burden going forward. Tests should be easy to understand & maintain. Please consider keeping the path untested or rewrite to minimize complexity.
Remove the AST-extract/exec offline test harness for the result_timeout guard. Per maintainer request, keep the validation path untested rather than carry a test that is hard to maintain. The guard itself (TypeError/ValueError on non-positive or non-numeric result_timeout) is unchanged.
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Thanks @maciejmajek — understood, and agreed. I've removed the offline test harness in 531b51a; the guard now ships untested to keep the test surface minimal and maintainable. The validation itself (TypeError on non-numeric/bool, ValueError on <=0) is unchanged. Appreciate the review. |
maciejmajek
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Jul 22, 2026
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Summary
result_timeoutatROS2ActionAPI.create_action_serverbefore constructing the rclpyActionServer.boolis rejected explicitly (Falsemust not pass as0).Motivation
result_timeoutcontrols how long action results are retained. Invalid values (≤0 or non-numeric) should fail at the RAI boundary rather than being forwarded into undefined rclpy behavior.Verification
Offline tests extract and execute the guard from source (no
rclpyrequired).result_timeout=900, QoS profiles, send_goal path.Notes
Paths are orthogonal to open Bartok9 TF/service work on
connectors/base.py/service.py/topic.py.Agent-Owner:
sera· Platform: hermes · Claim-TTL: 24h