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Do not generate the exception when action service response timeout. #2464

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Merged
fujitatomoya merged 2 commits into from
Mar 27, 2024
Merged

Do not generate the exception when action service response timeout. #2464

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101631e
Do not generate the exception when action service response timeout.
fujitatomoya Mar 22, 2024
e6c0aa0
address review comment.
fujitatomoya Mar 25, 2024
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33 changes: 32 additions & 1 deletion rclcpp_action/src/server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -343,6 +343,14 @@ ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
response_pair.second.get());
}

if (ret == RCL_RET_TIMEOUT) {
RCLCPP_WARN(
pimpl_->logger_,
"Failed to send goal response %s (timeout): %s",
to_string(uuid).c_str(), rcl_get_error_string().str);
rcl_reset_error();
return;
}
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
Expand Down Expand Up @@ -483,6 +491,15 @@ ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
pimpl_->action_server_.get(), &request_header, response.get());
}

if (ret == RCL_RET_TIMEOUT) {
GoalUUID uuid = request->goal_info.goal_id.uuid;
RCLCPP_WARN(
pimpl_->logger_,
"Failed to send cancel response %s (timeout): %s",
to_string(uuid).c_str(), rcl_get_error_string().str);
rcl_reset_error();
return;
}
if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
Expand Down Expand Up @@ -538,6 +555,14 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
rcl_ret_t rcl_ret = rcl_action_send_result_response(
pimpl_->action_server_.get(), &request_header, result_response.get());
if (rcl_ret == RCL_RET_TIMEOUT) {
RCLCPP_WARN(
pimpl_->logger_,
"Failed to send result response %s (timeout): %s",
to_string(uuid).c_str(), rcl_get_error_string().str);
rcl_reset_error();
return;
}
if (RCL_RET_OK != rcl_ret) {
rclcpp::exceptions::throw_from_rcl_error(rcl_ret);
}
Expand Down Expand Up @@ -671,7 +696,13 @@ ServerBase::publish_result(const GoalUUID & uuid, std::shared_ptr<void> result_m
for (auto & request_header : iter->second) {
rcl_ret_t ret = rcl_action_send_result_response(
pimpl_->action_server_.get(), &request_header, result_msg.get());
if (RCL_RET_OK != ret) {
if (ret == RCL_RET_TIMEOUT) {
RCLCPP_WARN(
pimpl_->logger_,
"Failed to send result response %s (timeout): %s",
to_string(uuid).c_str(), rcl_get_error_string().str);
rcl_reset_error();
} else if (RCL_RET_OK != ret) {
rclcpp::exceptions::throw_from_rcl_error(ret);
}
}
Expand Down