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extract the result response before the callback is issued. #2132

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Mar 21, 2023
Merged

extract the result response before the callback is issued. #2132

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19 changes: 12 additions & 7 deletions rclcpp_action/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -318,14 +318,19 @@ ClientBase::handle_result_response(
const rmw_request_id_t & response_header,
std::shared_ptr<void> response)
{
std::lock_guard<std::mutex> guard(pimpl_->result_requests_mutex);
const int64_t & sequence_number = response_header.sequence_number;
if (pimpl_->pending_result_responses.count(sequence_number) == 0) {
RCLCPP_ERROR(pimpl_->logger, "unknown result response, ignoring...");
return;
std::map<int64_t, ResponseCallback>::node_type pending_result_response;
{
std::lock_guard<std::mutex> guard(pimpl_->result_requests_mutex);
const int64_t & sequence_number = response_header.sequence_number;
if (pimpl_->pending_result_responses.count(sequence_number) == 0) {
RCLCPP_ERROR(pimpl_->logger, "unknown result response, ignoring...");
return;
}
pending_result_response =
pimpl_->pending_result_responses.extract(sequence_number);
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}
pimpl_->pending_result_responses[sequence_number](response);
pimpl_->pending_result_responses.erase(sequence_number);
auto & response_callback = pending_result_response.mapped();
response_callback(response);
}

void
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