Guard against mutliple calls to invalidate

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ros2 · Sep 16, 2020 · b145c73 · b145c73
1 parent 9cb1776
commit b145c73
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
@@ -141,6 +141,10 @@ void
 ClientGoalHandle<ActionT>::invalidate(const exceptions::UnawareGoalHandleError & ex)
 {
   std::lock_guard<std::mutex> guard(handle_mutex_);
+  // Guard against multiple calls
+  if (is_invalidated()) {
+    return;
+  }
   is_result_aware_ = false;
   invalidate_exception_ = std::make_exception_ptr(ex);
   status_ = GoalStatus::STATUS_UNKNOWN;