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Prevents the Future result from being set twice. (backport #1599) #1605

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Prevents the Future result from being set twice. (backport #1599) #1605

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15 changes: 15 additions & 0 deletions rclpy/rclpy/action/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,12 +148,27 @@ def publish_feedback(self, feedback):

def succeed(self):
self._update_state(_rclpy.GoalEvent.SUCCEED)
<<<<<<< HEAD
=======
if response is not None:
self._set_result(response)
>>>>>>> a348801 (Prevents the Future result from being set twice. (#1599))

def abort(self):
self._update_state(_rclpy.GoalEvent.ABORT)
<<<<<<< HEAD
=======
if response is not None:
self._set_result(response)
>>>>>>> a348801 (Prevents the Future result from being set twice. (#1599))

def canceled(self):
self._update_state(_rclpy.GoalEvent.CANCELED)
<<<<<<< HEAD
=======
if response is not None:
self._set_result(response)
>>>>>>> a348801 (Prevents the Future result from being set twice. (#1599))

def destroy(self):
with self._lock:
Expand Down