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Bugfix: executor doesn't propagate exception from task that awaited a future (backport #1643) - #1653

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ahcorde merged 4 commits into
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Aug 28, 2026
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Bugfix: executor doesn't propagate exception from task that awaited a future (backport #1643)#1653
ahcorde merged 4 commits into
humblefrom
mergify/bp/humble/pr-1643

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@mergify

@mergify mergify Bot commented Apr 18, 2026

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Fixes #1642

Changes

A task now registers itself on the awaited future via new Future._add_waiting_task.
The executor then dispatches the same Task object and sees its exception through handler.exception() as intended.

  • Future._callbacks now holds Union[Callable, Task]
  • _schedule_or_invoke_done_callbacks handles Task entries through executor._call_task_in_next_spin.
  • _wait_for_ready_callbacks skips tasks that were cancelled or completed between being queued and being popped.
  • A warnings.warn fires if a waiting Task is dropped because the executor weakref could not be resolved.
    This is an automatic backport of pull request Bugfix: executor doesn't propagate exception from task that awaited a future #1643 done by Mergify.

@nadavelkabets @mergify
Bugfix: executor doesn't propagate exception from task that awaited a…
99acc33 
… future (#1643)

* Schedule the original task when task awaits a future

Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>

* Add MultiThreadedExecutor to test

Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>

* Add tests for awaiting a done future and task cancellation during await

Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>

* Removed unused variable

Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>

---------

Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
(cherry picked from commit aac0ebb)

# Conflicts:
#	rclpy/rclpy/task.py
#	rclpy/test/test_executor.py
@mergify mergify Bot added the conflicts label Apr 18, 2026
@mergify

mergify Bot commented Apr 18, 2026

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Cherry-pick of aac0ebb has failed:

On branch mergify/bp/humble/pr-1643
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit aac0ebb.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rclpy/rclpy/executors.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rclpy/rclpy/task.py
	both modified:   rclpy/test/test_executor.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

@mergify mergify Bot mentioned this pull request Apr 18, 2026
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@ahcorde

ahcorde commented Jun 22, 2026

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Pulls: #1653
Gist: https://gist.githubusercontent.com/ahcorde/f9bec591316256ba24798b980e4671ad/raw/cf8d053e07af5d30404a70d0e200a93e5ddcdd06/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19626

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@ahcorde
Fixed merge
9e2dc8c 
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
@ahcorde

ahcorde commented Jun 23, 2026

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This was referenced Jul 9, 2026
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@christophebedard

christophebedard commented Aug 6, 2026

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ros2/ci#885 has been merged, so please re-run CI.

@nadavelkabets

nadavelkabets commented Aug 19, 2026

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@ahcorde @mjcarroll
Hey! Could you please run CI here and in #1652?

@christophebedard

christophebedard commented Aug 20, 2026

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Pulls: #1653
Gist: https://gist.githubusercontent.com/christophebedard/367f73bd3f8a557654c6d6f079c21440/raw/cf8d053e07af5d30404a70d0e200a93e5ddcdd06/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20115

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@christophebedard

christophebedard commented Aug 20, 2026

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Hey! Could you please run CI here and in #1652?

done!

ahcorde
ahcorde requested changes Aug 20, 2026
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can yuo check the failures @nadavelkabets ?

https://ci.ros2.org/job/ci_linux/30179/

@mergify

mergify Bot commented Aug 20, 2026

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@nadavelkabets nadavelkabets mentioned this pull request Aug 21, 2026
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@nadavelkabets

nadavelkabets commented Aug 21, 2026

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can yuo check the failures @nadavelkabets ?

https://ci.ros2.org/job/ci_linux/30179/

I don't have push permissions to this branch so I created a PR #1713
Test suite is passing for me locally

@nadavelkabets
Fix - create future not supported in humble (#1713)
060e799 
Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
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@ahcorde

ahcorde commented Aug 21, 2026 •
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@ahcorde
ahcorde merged commit c2559a7 into humble Aug 28, 2026
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@ahcorde
ahcorde deleted the mergify/bp/humble/pr-1643 branch August 28, 2026 08:38
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