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change priority of action ready events #161

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Merged
merged 1 commit into from
Aug 21, 2025
Merged

change priority of action ready events #161

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15 changes: 10 additions & 5 deletions rclcpp_action/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -354,6 +354,16 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
}

pimpl_->next_ready_event = ClientBaseImpl::NO_EVENT_READY;
// The following 'if' statements set the priority of execution for different entities.
// The order of priority for action components are:
// Status > Goal Response > Result Response > Cancel Response > Feedback.
// Feedback has the lowest priority, since if the client spins slower than the
// server's feedback rate, it may never process the action results.

if (is_status_ready) {
pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
return true;
}

if (is_goal_response_ready) {
pimpl_->next_ready_event = static_cast<size_t>(EntityType::GoalClient);
Expand All @@ -375,11 +385,6 @@ ClientBase::is_ready(const rcl_wait_set_t & wait_set)
return true;
}

if (is_status_ready) {
pimpl_->next_ready_event = static_cast<size_t>(EntityType::StatusSubscription);
return true;
}

return false;
}

Expand Down
7 changes: 4 additions & 3 deletions rclcpp_action/test/test_client.cpp
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Expand Up @@ -565,7 +565,7 @@ TEST_F(TestClientAgainstServer, async_send_goal_with_feedback_callback_wait_for_

ASSERT_EQ(5u, wrapped_result.result->sequence.size());
EXPECT_EQ(3, wrapped_result.result->sequence.back());
EXPECT_EQ(5, feedback_count);
EXPECT_EQ(2, feedback_count);
}

TEST_F(TestClientAgainstServer, async_send_goal_with_result_callback_wait_for_result)
Expand Down Expand Up @@ -1010,11 +1010,12 @@ TEST_F(TestClientAgainstServer, execute_rcl_errors)
{
ActionGoal goal;
goal.order = 5;
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_take_result_response, RCL_RET_ERROR);

auto future_goal_handle = action_client->async_send_goal(goal, send_goal_ops);
dual_spin_until_future_complete(future_goal_handle);
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_take_result_response, RCL_RET_ERROR);

auto goal_handle = future_goal_handle.get();
auto future_result = action_client->async_get_result(goal_handle);
EXPECT_THROW(
Expand Down