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From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 3 Apr 2023 21:46:35 -0700
Subject: [PATCH] =?UTF-8?q?Revert=20"Revert=20"extract=20the=20result=20re?=
 =?UTF-8?q?sponse=20before=20the=20callback=20is=20is=E2=80=A6=20(backport?=
 =?UTF-8?q?=20#2152)=20(#2153)?=
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* Revert "Revert "extract the result response before the callback is issued. (#2133)" (#2148)" (#2152)

This reverts commit 19a666f1c9393e86f0f0cc5a8213cbd18b01fc03.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit b2b7bdeac16f6a3bd62d1f03fd18af32d1ba29f6)

* address cpplint error.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

---------

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 rclcpp_action/src/client.cpp | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/rclcpp_action/src/client.cpp b/rclcpp_action/src/client.cpp
index e0e47bc..bc21dfa 100644
--- a/rclcpp_action/src/client.cpp
+++ b/rclcpp_action/src/client.cpp
@@ -22,6 +22,7 @@
 #include <memory>
 #include <random>
 #include <string>
+#include <utility>
 
 #include "rclcpp_action/client.hpp"
 #include "rclcpp_action/exceptions.hpp"
@@ -314,14 +315,18 @@ 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;
+  ResponseCallback response_callback;
+  {
+    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;
+    }
+    response_callback = std::move(pimpl_->pending_result_responses[sequence_number]);
+    pimpl_->pending_result_responses.erase(sequence_number);
   }
-  pimpl_->pending_result_responses[sequence_number](response);
-  pimpl_->pending_result_responses.erase(sequence_number);
+  response_callback(response);
 }
 
 void