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Returns CancelResponse::REJECT while goal handle failed to transit to CANCELING state (backport #1641) #1653

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Merged
ivanpauno merged 1 commit into from
Apr 30, 2021
Merged

Returns CancelResponse::REJECT while goal handle failed to transit to CANCELING state (backport #1641) #1653

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9 changes: 8 additions & 1 deletion rclcpp_action/include/rclcpp_action/server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -369,7 +369,14 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
if (goal_handle) {
resp = handle_cancel_(goal_handle);
if (CancelResponse::ACCEPT == resp) {
goal_handle->_cancel_goal();
try {
goal_handle->_cancel_goal();
} catch (const rclcpp::exceptions::RCLError & ex) {
RCLCPP_DEBUG(
rclcpp::get_logger("rclcpp_action"),
"Failed to cancel goal in call_handle_cancel_callback: %s", ex.what());
return CancelResponse::REJECT;
}
}
}
return resp;
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11 changes: 5 additions & 6 deletions rclcpp_action/test/test_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1234,14 +1234,10 @@ class TestDeadlockServer : public TestServer
this->TryLockFor(lock, std::chrono::milliseconds(1000));
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
},
[this](std::shared_ptr<GoalHandle> handle) {
[this](std::shared_ptr<GoalHandle>) {
// instead of making a deadlock, check if it can acquire the lock in a second
std::unique_lock<std::recursive_timed_mutex> lock(server_mutex_, std::defer_lock);
this->TryLockFor(lock, std::chrono::milliseconds(1000));
// TODO(KavenYau): this check may become obsolete with https://github.com/ros2/rclcpp/issues/1599
if (!handle->is_active()) {
return rclcpp_action::CancelResponse::REJECT;
}
return rclcpp_action::CancelResponse::ACCEPT;
},
[this](std::shared_ptr<GoalHandle> handle) {
Expand Down Expand Up @@ -1316,6 +1312,9 @@ TEST_F(TestDeadlockServer, deadlock_while_succeed_and_canceled)
send_goal_request(node_, uuid1_);
std::thread t(&TestDeadlockServer::GoalSucceeded, this);
rclcpp::sleep_for(std::chrono::milliseconds(50));
send_cancel_request(node_, uuid1_);
auto response_ptr = send_cancel_request(node_, uuid1_);

// current goal handle is not cancelable, so it returns ERROR_REJECTED
EXPECT_EQ(CancelResponse::ERROR_REJECTED, response_ptr->return_code);
t.join();
}