Move validator inside broadcast client logic

Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Oct 2, 2024 · 1350d54 · 1350d54
1 parent 41d1034
commit 1350d54
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp b/rmf_fleet_adapter/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp
@@ -1296,18 +1296,17 @@ void FleetUpdateHandle::Implementation::update_fleet_state() const
 
   try
   {
-    static const auto validator =
-      make_validator(rmf_api_msgs::schemas::fleet_state_update);
-
-    validator.validate(fleet_state_update_msg);
-
     std::unique_lock<std::mutex> lock(*update_callback_mutex);
     if (update_callback)
       update_callback(fleet_state_update_msg);
 
     // Publish to API server
     if (broadcast_client)
     {
+      static const auto validator =
+        make_validator(rmf_api_msgs::schemas::fleet_state_update);
+      validator.validate(fleet_state_update_msg);
+
       broadcast_client->publish(fleet_state_update_msg);
     }