Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[dashing backport] add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy_ #857

Merged
merged 1 commit into from
Sep 20, 2019
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions rclcpp/include/rclcpp/executor.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <iostream>
#include <list>
#include <memory>
#include <mutex>
#include <string>
#include <vector>

Expand Down Expand Up @@ -355,6 +356,9 @@ class Executor
/// Wait set for managing entities that the rmw layer waits on.
rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();

// Mutex to protect the subsequent memory_strategy_.
std::mutex memory_strategy_mutex_;

/// The memory strategy: an interface for handling user-defined memory allocation strategies.
memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;

Expand Down
72 changes: 39 additions & 33 deletions rclcpp/src/rclcpp/executor.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
}
}
// Add the node's notify condition to the guard condition handles
std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
}

Expand Down Expand Up @@ -178,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
}
}
}
std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
}

Expand Down Expand Up @@ -423,43 +425,47 @@ Executor::execute_client(
void
Executor::wait_for_work(std::chrono::nanoseconds timeout)
{
// Collect the subscriptions and timers to be waited on
memory_strategy_->clear_handles();
bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);

// Clean up any invalid nodes, if they were detected
if (has_invalid_weak_nodes) {
auto node_it = weak_nodes_.begin();
auto gc_it = guard_conditions_.begin();
while (node_it != weak_nodes_.end()) {
if (node_it->expired()) {
node_it = weak_nodes_.erase(node_it);
memory_strategy_->remove_guard_condition(*gc_it);
gc_it = guard_conditions_.erase(gc_it);
} else {
++node_it;
++gc_it;
{
std::unique_lock<std::mutex> lock(memory_strategy_mutex_);

// Collect the subscriptions and timers to be waited on
memory_strategy_->clear_handles();
bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);

// Clean up any invalid nodes, if they were detected
if (has_invalid_weak_nodes) {
auto node_it = weak_nodes_.begin();
auto gc_it = guard_conditions_.begin();
while (node_it != weak_nodes_.end()) {
if (node_it->expired()) {
node_it = weak_nodes_.erase(node_it);
memory_strategy_->remove_guard_condition(*gc_it);
gc_it = guard_conditions_.erase(gc_it);
} else {
++node_it;
++gc_it;
}
}
}
}
// clear wait set
if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear wait set");
}
// clear wait set
if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
throw std::runtime_error("Couldn't clear wait set");
}

// The size of waitables are accounted for in size of the other entities
rcl_ret_t ret = rcl_wait_set_resize(
&wait_set_, memory_strategy_->number_of_ready_subscriptions(),
memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
memory_strategy_->number_of_ready_events());
if (RCL_RET_OK != ret) {
throw std::runtime_error(
std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
}
// The size of waitables are accounted for in size of the other entities
rcl_ret_t ret = rcl_wait_set_resize(
&wait_set_, memory_strategy_->number_of_ready_subscriptions(),
memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
memory_strategy_->number_of_ready_events());
if (RCL_RET_OK != ret) {
throw std::runtime_error(
std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
}

if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
throw std::runtime_error("Couldn't fill wait set");
if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
throw std::runtime_error("Couldn't fill wait set");
}
}
rcl_ret_t status =
rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
Expand Down