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fix 206: introduce lock to prevent send_goal race condition #207

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fix 206: introduce lock to prevent send_goal race condition #207

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12 changes: 7 additions & 5 deletions actionlib/src/actionlib/simple_action_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@
# Author: Stuart Glaser
import rospy
import threading

from actionlib_msgs.msg import GoalStatus
from actionlib.action_client import ActionClient, CommState, get_name_of_constant

Expand All @@ -56,6 +55,7 @@ def __init__(self, ns, ActionSpec):
self.simple_state = SimpleGoalState.DONE
self.gh = None
self.done_condition = threading.Condition()
self.lock = threading.RLock() # fix #206

## @brief Blocks until the action server connects to this client
##
Expand Down Expand Up @@ -89,7 +89,8 @@ def send_goal(self, goal, done_cb=None, active_cb=None, feedback_cb=None):
self.feedback_cb = feedback_cb

self.simple_state = SimpleGoalState.PENDING
self.gh = self.action_client.send_goal(goal, self._handle_transition, self._handle_feedback)
with self.lock:
self.gh = self.action_client.send_goal(goal, self._handle_transition, self._handle_feedback)

## @brief Sends a goal to the ActionServer, waits for the goal to complete, and preempts goal is necessary
##
Expand Down Expand Up @@ -213,9 +214,10 @@ def stop_tracking_goal(self):

def _handle_transition(self, gh):

if gh != self.gh:
rospy.logerr("Got a transition callback on a goal handle that we're not tracking")
return
with self.lock:
if gh != self.gh:
rospy.logerr("Got a transition callback on a goal handle that we're not tracking")
return

comm_state = gh.get_comm_state()

Expand Down