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Bugfix 20210810 get current state #1756

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merged 2 commits into from Oct 28, 2022
Merged

Bugfix 20210810 get current state #1756

merged 2 commits into from Oct 28, 2022

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fujitatomoya
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fix #1746

@fujitatomoya fujitatomoya mentioned this pull request Aug 25, 2021
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clalancette
clalancette requested changes Sep 14, 2021
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rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp Outdated Show resolved Hide resolved
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@clalancette clalancette added the more-information-needed Further information is required label Sep 30, 2021
@fujitatomoya fujitatomoya force-pushed the bugfix-20210810-get_current_state branch from a9de1b6 to de7ec73 Compare October 22, 2021 22:34
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@fujitatomoya
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@iuhilnehc-ynos @Barry-Xu-2018 could you guys review this if you got time?

iuhilnehc-ynos
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@fujitatomoya
few minor comments. (I might be wrong, if so, please ignore them.)

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@clalancette @ivanpauno what do you think about this fix? there is still discussion needs to be done for future, but this can fix #1746 (avoid crash and exception.)

@fujitatomoya fujitatomoya force-pushed the bugfix-20210810-get_current_state branch from 99798a1 to 3a3d395 Compare November 16, 2021 17:21
@fujitatomoya fujitatomoya self-assigned this Dec 3, 2021
@fujitatomoya fujitatomoya added bug Something isn't working and removed more-information-needed Further information is required labels Dec 3, 2021
@fujitatomoya fujitatomoya force-pushed the bugfix-20210810-get_current_state branch from 3a3d395 to 131841a Compare December 15, 2021 01:32
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I've left a few more comments, and we still have open the question on what to do with get_current_state. But this is getting closer.

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@clalancette thanks, i will look into comments and get back to you.

@fujitatomoya fujitatomoya force-pushed the bugfix-20210810-get_current_state branch from 131841a to d88adf8 Compare December 20, 2021 17:51
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I am still requesting some help for a couple of questions. any comments will do good!

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@clalancette @iuhilnehc-ynos friendly ping.

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@fujitatomoya

I don't know if I should continue to review it because returning a copy of State[1,2] seems to be the consensus.
To fix an issue with the correct way rather than a workaround might be better. I know it could affect many source codes or even other repositories.

@audrow audrow changed the base branch from master to rolling June 28, 2022 14:21
@fujitatomoya fujitatomoya force-pushed the bugfix-20210810-get_current_state branch from e28ab16 to 2d9e5d5 Compare October 1, 2022 00:00
This was referenced Oct 17, 2022
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@fujitatomoya @clalancette
protect state_machine_ with mutex lock.
5be565f 
protect state_handle_ with mutex lock.

reconsider mutex lock scope.

remove mutex lock from constructors.

lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
@clalancette clalancette force-pushed the bugfix-20210810-get_current_state branch from 2d9e5d5 to 5be565f Compare October 24, 2022 21:43
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With all of the latest fixes, I've now rebased this onto the latest. I think this looks much better now and should fix the original problem. That said, since I did substantial work on this, I'd like @fujitatomoya to take another look at this before we go ahead with it.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@clalancette
Move updating of current_state to right after initialization.
a46b6ac 
This is slightly more correct in the case that registering one
of the services fails.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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@clalancette thanks i will take a look at this soon.

@fujitatomoya fujitatomoya merged commit e5d13a2 into ros2:rolling Oct 28, 2022
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roncapat commented Mar 21, 2023 •
edited

@fujitatomoya is this backportable to humble?

Edit:
I had to cherry-pick the following (in order):

In particular, this is useful with gazebo11 + gazebo-ros + gazebo-ros2-control Humble setup, because spurious Error in state! Internal state_handle is NULL. happen rather frequently for me.

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Unfortunately I do not think so, this breaks ABI so cannot land on humble.

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Unfortunately I do not think so, this breaks ABI so cannot land on humble.

It is probably possible to make an ABI-preserving fix by introducing a map of State pointers to mutexes, and then looking up the appropriate mutex in that map as needed. But someone needs to find the time to do that.

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Mar 24, 2023
@fujitatomoya @clalancette
Bugfix 20210810 get current state (ros2#1756)
86c6cb0 
* protect state_machine_ with mutex lock.

protect state_handle_ with mutex lock.

reconsider mutex lock scope.

remove mutex lock from constructors.

lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Move updating of current_state to right after initialization.

This is slightly more correct in the case that registering one
of the services fails.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Mar 24, 2023
@fujitatomoya @clalancette
Bugfix 20210810 get current state (ros2#1756)
1831e12 
* protect state_machine_ with mutex lock.

protect state_handle_ with mutex lock.

reconsider mutex lock scope.

remove mutex lock from constructors.

lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Move updating of current_state to right after initialization.

This is slightly more correct in the case that registering one
of the services fails.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
@roncapat roncapat mentioned this pull request Mar 30, 2023
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@schornakj schornakj mentioned this pull request Apr 25, 2023
Closed
alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 29, 2023
@fujitatomoya @clalancette
Bugfix 20210810 get current state (ros2#1756)
7885f41 
* protect state_machine_ with mutex lock.

protect state_handle_ with mutex lock.

reconsider mutex lock scope.

remove mutex lock from constructors.

lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Move updating of current_state to right after initialization.

This is slightly more correct in the case that registering one
of the services fails.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 29, 2023
@fujitatomoya @clalancette
Bugfix 20210810 get current state (ros2#1756)
ad9cd1a 
* protect state_machine_ with mutex lock.

protect state_handle_ with mutex lock.

reconsider mutex lock scope.

remove mutex lock from constructors.

lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Move updating of current_state to right after initialization.

This is slightly more correct in the case that registering one
of the services fails.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
schornakj added a commit to schornakj/rclcpp that referenced this pull request May 2, 2023
@schornakj
apply changes to LifecycleNodeInterfaceImpl from ros2#1756
b640cad 
Signed-off-by: Joe Schornak <joe.schornak@gmail.com>
@schornakj schornakj mentioned this pull request May 2, 2023
Merged
alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request May 3, 2023
@fujitatomoya @clalancette
Bugfix 20210810 get current state (ros2#1756)
6c84b07 
* protect state_machine_ with mutex lock.

protect state_handle_ with mutex lock.

reconsider mutex lock scope.

remove mutex lock from constructors.

lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* Move updating of current_state to right after initialization.

This is slightly more correct in the case that registering one
of the services fails.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
clalancette pushed a commit to schornakj/rclcpp that referenced this pull request Jun 26, 2023
@schornakj @clalancette
apply changes to LifecycleNodeInterfaceImpl from ros2#1756
e8e6d89 
Signed-off-by: Joe Schornak <joe.schornak@gmail.com>
clalancette pushed a commit that referenced this pull request Jun 27, 2023
@schornakj
Fix thread safety in LifecycleNode::get_current_state() for Humble (#…
25263e8 
…2183)

* add initially-failing test case

* apply changes to LifecycleNodeInterfaceImpl from #1756

* add static member to State for managing state_handle_ access

* allow parallel read access in MutexMap

Signed-off-by: Joe Schornak <joe.schornak@gmail.com>
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@clalancette clalancette clalancette approved these changes

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rclcpp_lifecycle::LifecycleNode::get_current_state is not thread safe
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