move function calls to complete terminal process in one mutex context

ros2 · Sep 13, 2020 · 11ae5aa · 11ae5aa
1 parent 27e59d9
commit 11ae5aa
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -385,10 +385,6 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
         }
         // Send result message to anyone that asked
         shared_this->publish_result(uuid, result_message);
-        // Publish a status message any time a goal handle changes state
-        shared_this->publish_status();
-        // notify base so it can recalculate the expired goal timer
-        shared_this->notify_goal_terminal_state();
         // Delete data now (ServerBase and rcl_action_server_t keep data until goal handle expires)
         std::lock_guard<std::mutex> lock(shared_this->goal_handles_mutex_);
         shared_this->goal_handles_.erase(uuid);

diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
@@ -537,6 +537,11 @@ ServerBase::publish_result(const GoalUUID & uuid, std::shared_ptr<void> result_m
       }
     }
   }
+
+  // Publish a status message any time a goal handle changes state
+  publish_status();
+  // notify base so it can recalculate the expired goal timer
+  notify_goal_terminal_state();
 }
 
 void