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Fix action server deadlock issue that caused by other mutexes locked in CancelCallback (#1635) (#1654)

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Signed-off-by: Kaven Yau <kavenyau@foxmail.com>
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Kaven Yau 2021-05-05 21:28:42 +08:00 • committed by GitHub
parent 6ceeff0f0f
commit 791c23afe5
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1 changed files with 13 additions and 9 deletions
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22
rclcpp_action/include/rclcpp_action/server.hpp
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@ -352,16 +352,20 @@ protected:
CancelResponse CancelResponse
call_handle_cancel_callback(const GoalUUID & uuid) override call_handle_cancel_callback(const GoalUUID & uuid) override
{ {
std::lock_guard<std::mutex> lock(goal_handles_mutex_); std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle;
{
std::lock_guard<std::mutex> lock(goal_handles_mutex_);
auto element = goal_handles_.find(uuid);
if (element != goal_handles_.end()) {
goal_handle = element->second.lock();
}
}
CancelResponse resp = CancelResponse::REJECT; CancelResponse resp = CancelResponse::REJECT;
auto element = goal_handles_.find(uuid); if (goal_handle) {
if (element != goal_handles_.end()) { resp = handle_cancel_(goal_handle);
std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle = element->second.lock(); if (CancelResponse::ACCEPT == resp) {
if (goal_handle) { goal_handle->_cancel_goal();
resp = handle_cancel_(goal_handle);
if (CancelResponse::ACCEPT == resp) {
goal_handle->_cancel_goal();
}
} }
} }
return resp; return resp;