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Make GILReleaser exception-safe #2363

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Oct 13, 2020
Merged

Make GILReleaser exception-safe #2363

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76 changes: 41 additions & 35 deletions moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -458,10 +458,12 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer

bp::tuple planPython()
{
GILReleaser gr;
MoveGroupInterface::Plan plan;
moveit_msgs::MoveItErrorCodes res = MoveGroupInterface::plan(plan);
gr.reacquire();
moveit_msgs::MoveItErrorCodes res;
{
GILReleaser gr;
res = MoveGroupInterface::plan(plan);
}
return bp::make_tuple(py_bindings_tools::serializeMsg(res), py_bindings_tools::serializeMsg(plan.trajectory_),
plan.planning_time_);
}
Expand All @@ -488,10 +490,11 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
std::vector<geometry_msgs::Pose> poses;
convertListToArrayOfPoses(waypoints, poses);
moveit_msgs::RobotTrajectory trajectory;
GILReleaser gr;
double fraction =
computeCartesianPath(poses, eef_step, jump_threshold, trajectory, path_constraints, avoid_collisions);
gr.reacquire();
double fraction;
{
GILReleaser gr;
fraction = computeCartesianPath(poses, eef_step, jump_threshold, trajectory, path_constraints, avoid_collisions);
}
return bp::make_tuple(py_bindings_tools::serializeMsg(trajectory), fraction);
}

Expand Down Expand Up @@ -540,36 +543,39 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
// Convert trajectory message to object
moveit_msgs::RobotTrajectory traj_msg;
py_bindings_tools::deserializeMsg(traj_str, traj_msg);
GILReleaser gr;
robot_trajectory::RobotTrajectory traj_obj(getRobotModel(), getName());
traj_obj.setRobotTrajectoryMsg(ref_state_obj, traj_msg);

// Do the actual retiming
if (algorithm == "iterative_time_parameterization")
{
trajectory_processing::IterativeParabolicTimeParameterization time_param;
time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
}
else if (algorithm == "iterative_spline_parameterization")
bool algorithm_found = true;
{
trajectory_processing::IterativeSplineParameterization time_param;
time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
}
else if (algorithm == "time_optimal_trajectory_generation")
{
trajectory_processing::TimeOptimalTrajectoryGeneration time_param;
time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
}
else
{
ROS_ERROR_STREAM_NAMED("move_group_py", "Unknown time parameterization algorithm: " << algorithm);
gr.reacquire();
return py_bindings_tools::serializeMsg(moveit_msgs::RobotTrajectory());
}
GILReleaser gr;
robot_trajectory::RobotTrajectory traj_obj(getRobotModel(), getName());
traj_obj.setRobotTrajectoryMsg(ref_state_obj, traj_msg);

// Do the actual retiming
if (algorithm == "iterative_time_parameterization")
{
trajectory_processing::IterativeParabolicTimeParameterization time_param;
time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
}
else if (algorithm == "iterative_spline_parameterization")
{
trajectory_processing::IterativeSplineParameterization time_param;
time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
}
else if (algorithm == "time_optimal_trajectory_generation")
{
trajectory_processing::TimeOptimalTrajectoryGeneration time_param;
time_param.computeTimeStamps(traj_obj, velocity_scaling_factor, acceleration_scaling_factor);
}
else
{
ROS_ERROR_STREAM_NAMED("move_group_py", "Unknown time parameterization algorithm: " << algorithm);
algorithm_found = false;
traj_msg = moveit_msgs::RobotTrajectory();
}

// Convert the retimed trajectory back into a message
traj_obj.getRobotTrajectoryMsg(traj_msg);
gr.reacquire();
if (algorithm_found)
// Convert the retimed trajectory back into a message
traj_obj.getRobotTrajectoryMsg(traj_msg);
}
return py_bindings_tools::serializeMsg(traj_msg);
}
else
Expand Down
27 changes: 6 additions & 21 deletions ..._ros/planning_interface/py_bindings_tools/include/moveit/py_bindings_tools/gil_releaser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,13 +59,16 @@ class GILReleaser
/** \brief Release the GIL on construction */
GILReleaser() noexcept
{
m_thread_state = nullptr;
release();
m_thread_state = PyEval_SaveThread();
}
/** \brief Reacquire the GIL on destruction */
~GILReleaser() noexcept
{
reacquire();
if (m_thread_state)
{
PyEval_RestoreThread(m_thread_state);
m_thread_state = nullptr;
}
}

GILReleaser(const GILReleaser&) = delete;
Expand All @@ -87,24 +90,6 @@ class GILReleaser
{
std::swap(other.m_thread_state, m_thread_state);
}

/** \brief Reacquire the GIL, noop if already acquired */
void reacquire() noexcept
{
if (m_thread_state)
{
PyEval_RestoreThread(m_thread_state);
m_thread_state = nullptr;
}
}
/** \brief Release the GIL (again), noop if already released */
void release() noexcept
{
if (!m_thread_state)
{
m_thread_state = PyEval_SaveThread();
}
}
};

} // namespace py_bindings_tools
Expand Down