RobotWebTools / rclnodejs / 23884593480

85%

Build Type

push

github

Committed by web-flow

Commit Message

Guard publishFeedback and execute for valid goal states (#1466)

Guard `publishFeedback()` to only publish when the goal is in EXECUTING state; log a warning and return early otherwise. Guard `execute()` to return early if the goal is already executing or no longer active, preventing invalid state transitions that crash rcl. Ported from rclpy commit f76729cf ("publish_feedback should effect only on executing state", ros2/rclpy#1639).

**Modified: `lib/action/server_goal_handle.js`** — `publishFeedback()` now checks `this.status !== STATUS_EXECUTING` and warns + returns if not executing. `execute()` now returns early if already executing or if the goal handle is no longer active (terminal state).

**Modified: `test/test-action-server.js`** — Added 4 tests: publishFeedback on accepted goal is ignored, publishFeedback on executing goal works normally, publishFeedback after succeed is ignored, and duplicate execute() is a no-op.

Fix: #1465

Coverage Stats

1484 of 1883 branches covered (78.81%)

Branch coverage included in aggregate %.

7 of 9 new or added lines in 1 file covered. (77.78%)

20 existing lines in 1 file now uncovered.

3059 of 3410 relevant lines covered (89.71%)

444.1 hits per line