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[rclcpp_action] Do not throw exception in action client if take fails #888

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Oct 14, 2019
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[rclcpp_action] Do not throw exception in action client if take fails #888

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30 changes: 15 additions & 15 deletions rclcpp_action/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -388,53 +388,53 @@ ClientBase::execute()
rcl_ret_t ret = rcl_action_take_feedback(
pimpl_->client_handle.get(), feedback_message.get());
pimpl_->is_feedback_ready = false;
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
} else {
if (RCL_RET_OK == ret) {
this->handle_feedback_message(feedback_message);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
}
} else if (pimpl_->is_status_ready) {
std::shared_ptr<void> status_message = this->create_status_message();
rcl_ret_t ret = rcl_action_take_status(
pimpl_->client_handle.get(), status_message.get());
pimpl_->is_status_ready = false;
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
} else {
if (RCL_RET_OK == ret) {
this->handle_status_message(status_message);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
}
} else if (pimpl_->is_goal_response_ready) {
rmw_request_id_t response_header;
std::shared_ptr<void> goal_response = this->create_goal_response();
rcl_ret_t ret = rcl_action_take_goal_response(
pimpl_->client_handle.get(), &response_header, goal_response.get());
pimpl_->is_goal_response_ready = false;
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
} else {
if (RCL_RET_OK == ret) {
this->handle_goal_response(response_header, goal_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
}
} else if (pimpl_->is_result_response_ready) {
rmw_request_id_t response_header;
std::shared_ptr<void> result_response = this->create_result_response();
rcl_ret_t ret = rcl_action_take_result_response(
pimpl_->client_handle.get(), &response_header, result_response.get());
pimpl_->is_result_response_ready = false;
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
} else {
if (RCL_RET_OK == ret) {
this->handle_result_response(response_header, result_response);
} else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
}
} else if (pimpl_->is_cancel_response_ready) {
rmw_request_id_t response_header;
std::shared_ptr<void> cancel_response = this->create_cancel_response();
rcl_ret_t ret = rcl_action_take_cancel_response(
pimpl_->client_handle.get(), &response_header, cancel_response.get());
pimpl_->is_cancel_response_ready = false;
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
} else {
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");
Expand Down