[iron] Fix an inherent race in execution vs. destruction. (backport of #1150) #1256
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* Fix an inherent race in execution vs. destruction. The rclpy executor collects all of the entities in one pass, then creates async tasks for each of the ready ones and attempts to "take" and execute them. If one of those entities is destroyed after the collection but before we attempt to "take" it, then we can end up attempting to __enter__ a Destroyable-derived class that has already been destroyed. The Destroyable will then raise an InvalidHandle error. Fix this by explicitly catching the InvalidHandle error that can be raised in all of the Destroyable-derived entities. If we do catch it, then we actually let the machinery continue but tell things to just not execute; in a subsequent executor iteration, the entity will be destroyed and hence not looked at anymore. This seems to fix the race in my testing. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
Timple
changed the title
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@clalancette what do you think about this backport? i think that is fine, this gives us better user experience. the backport is straight-forward. |
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clalancette
approved these changes
Mar 19, 2024
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Backport of #1150
I ran into this and noticed a solution is already available.
Thank you @clalancette for the works!