fix(action): keep servers responsive and always reply on cancel/get_result - #355
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richardw347 wants to merge 1 commit into
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…esult ROS clients hold get_result open for the life of a goal, which starved the driver loop, and several cancel/unknown paths dropped queries with no reply.
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Summary
get_result/cancel_goaloff the driverselect!loop. ROS clients holdget_resultopen for the life of a goal, which previously starved furthersend_goaland cancel.get_result, GoalHandle drop, and cancel-all / unknown cancel (zero UUID andERROR_NONEon success).CANCELING; FFI cancel uses CDRCancelGoalinstead of a raw UUID and empty reply.ZAction::Result: Defaultis now required so abort/unknown/expire paths can reply.Test plan
cargo check -p hiroz --tests --features ffireturn_code == 0on successful cancel;TestResult: Default)ros2 action send_goal -fthen cancel while the goal is running (must not hang later send_goals)get_resultfor an unknown UUID returns instead of hangingsucceed/abort/canceledrepliesAbortedIndependent of the CancelGoal type-hash PR; both are needed for ROS cancel interop.