Set the result awareness to false if goal handle is invalidated

jacobperron · jacobperron · commit d444e09131c4 · 2020-09-14T11:44:17.000-07:00
This will cause an exception when trying to get the future to result, in addition to the exception when trying to access values for existing references to the future.

Signed-off-by: Jacob Perron &lt;jacob@openrobotics.org&gt;
diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
@@ -149,6 +149,7 @@ ClientGoalHandle<ActionT>::invalidate()
 {
   std::lock_guard<std::mutex> guard(handle_mutex_);
   status_ = GoalStatus::STATUS_UNKNOWN;
+  is_result_aware_ = false;
   result_promise_.set_exception(std::make_exception_ptr(exceptions::UnawareGoalHandleError()));
 }
 

Original file line number	Diff line number	Diff line change
`@@ -149,6 +149,7 @@ ClientGoalHandle<ActionT>::invalidate()`
`149`	`149`	`{`
`150`	`150`	`std::lock_guard<std::mutex> guard(handle_mutex_);`
`151`	`151`	`status_ = GoalStatus::STATUS_UNKNOWN;`
	`152`	`+ is_result_aware_ = false;`
`152`	`153`	`result_promise_.set_exception(std::make_exception_ptr(exceptions::UnawareGoalHandleError()));`
`153`	`154`	`}`
`154`	`155`