safe blocker bug on action cancellation

robosoft-ai · May 31, 2024 · 04ab109 · 04ab109
1 parent b1cfb1f
commit 04ab109
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
@@ -100,6 +100,8 @@ class SmaccActionClientBase : public ISmaccActionClient
 
   std::optional<std::shared_future<typename GoalHandle::SharedPtr>> lastRequest_;
   // typename GoalHandle::SharedPtr goalHandle_;
+  std::optional<std::shared_future<typename CancelResponse::SharedPtr>> lastCancelResponse_;
+
 
   SmaccActionResultSignal onSucceeded_;
   SmaccActionResultSignal onAborted_;
@@ -217,8 +219,8 @@ class SmaccActionClientBase : public ISmaccActionClient
 
   virtual bool cancelGoal() override
   {
-    auto fut = this->client_->async_cancel_all_goals();
-    fut.wait();
+    lastCancelResponse_= this->client_->async_cancel_all_goals();
+
 
     // if (lastRequest_ && lastRequest_->valid())
     // {