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Only allow one spin_until_future_complete at a time #804

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Jun 5, 2019
Merged

Only allow one spin_until_future_complete at a time #804

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18 changes: 15 additions & 3 deletions nav2_tasks/include/nav2_tasks/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
#define NAV2_TASKS__BT_ACTION_NODE_HPP_

#include <memory>
#include <mutex>
#include <string>

#include "behaviortree_cpp/action_node.h"
Expand Down Expand Up @@ -51,7 +52,7 @@ class BtActionNode : public BT::AsyncActionNode
// but override on_init instead.
void onInit() final
{
node_ = nav2_util::generate_internal_node();
node_ = nav2_util::generate_internal_node(action_name_);

// Initialize the input and output messages
goal_ = typename ActionT::Goal();
Expand Down Expand Up @@ -123,7 +124,12 @@ class BtActionNode : public BT::AsyncActionNode
auto future_result = goal_handle_->async_result();
rclcpp::executor::FutureReturnCode rc;
do {
rc = rclcpp::spin_until_future_complete(node_, future_result, node_loop_timeout_);
{
// Can only have one spin_until_future_complete at a time. Otherwise we get
// the "already on a executor" error
std::lock_guard<std::mutex> guard(spin_mutex_);
rc = rclcpp::spin_until_future_complete(node_, future_result, node_loop_timeout_);
}

if (rc == rclcpp::executor::FutureReturnCode::TIMEOUT) {
on_loop_timeout();
Expand Down Expand Up @@ -165,7 +171,10 @@ class BtActionNode : public BT::AsyncActionNode
if (status() == BT::NodeStatus::RUNNING) {
action_client_->async_cancel_goal(goal_handle_);
auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
rclcpp::spin_until_future_complete(node_, future_cancel);
{
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Semantics, but this is right before leaving the scope of the if, so the additional scoping for the lock isn't required

std::lock_guard<std::mutex> guard(spin_mutex_);
rclcpp::spin_until_future_complete(node_, future_cancel);
}
}

setStatus(BT::NodeStatus::IDLE);
Expand All @@ -187,6 +196,9 @@ class BtActionNode : public BT::AsyncActionNode
// The timeout value while to use in the tick loop while waiting for
// a result from the server
std::chrono::milliseconds node_loop_timeout_;

// A mutex to allow only one spin_until_future_complete at a time
std::mutex spin_mutex_;
};

} // namespace nav2_tasks
Expand Down