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Delay lock on message callback setters #657

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merged 3 commits into from
Jan 19, 2023
Merged

Delay lock on message callback setters #657

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7d151f4
Delay lock on SubListener::set_on_new_message_callback.
MiguelCompany Jan 11, 2023
70f2ccf
Delay lock on ClientListener::set_on_new_response_callback.
MiguelCompany Jan 16, 2023
deacae7
Delay lock on ServiceListener::set_on_new_request_callback.
MiguelCompany Jan 16, 2023
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6 changes: 4 additions & 2 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,11 +127,11 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
const void * user_data,
rmw_event_callback_t callback)
{
std::unique_lock<std::mutex> lock_mutex(on_new_response_m_);

if (callback) {
auto unread_responses = get_unread_responses();

std::lock_guard<std::mutex> lock_mutex(on_new_response_m_);

if (0 < unread_responses) {
callback(user_data, unread_responses);
}
Expand All @@ -143,6 +143,8 @@ class ClientListener : public eprosima::fastdds::dds::DataReaderListener
status_mask |= eprosima::fastdds::dds::StatusMask::data_available();
info_->response_reader_->set_listener(this, status_mask);
} else {
std::lock_guard<std::mutex> lock_mutex(on_new_response_m_);

eprosima::fastdds::dds::StatusMask status_mask = info_->response_reader_->get_status_mask();
status_mask &= ~eprosima::fastdds::dds::StatusMask::data_available();
info_->response_reader_->set_listener(this, status_mask);
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6 changes: 4 additions & 2 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -226,11 +226,11 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
const void * user_data,
rmw_event_callback_t callback)
{
std::unique_lock<std::mutex> lock_mutex(on_new_request_m_);

if (callback) {
auto unread_requests = get_unread_resquests();

std::lock_guard<std::mutex> lock_mutex(on_new_request_m_);

if (0 < unread_requests) {
callback(user_data, unread_requests);
}
Expand All @@ -242,6 +242,8 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
status_mask |= eprosima::fastdds::dds::StatusMask::data_available();
info_->request_reader_->set_listener(this, status_mask);
} else {
std::lock_guard<std::mutex> lock_mutex(on_new_request_m_);

eprosima::fastdds::dds::StatusMask status_mask = info_->request_reader_->get_status_mask();
status_mask &= ~eprosima::fastdds::dds::StatusMask::data_available();
info_->request_reader_->set_listener(this, status_mask);
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6 changes: 4 additions & 2 deletions rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,11 +210,11 @@ SubListener::set_on_new_message_callback(
const void * user_data,
rmw_event_callback_t callback)
{
std::unique_lock<std::mutex> lock_mutex(on_new_message_m_);

if (callback) {
auto unread_messages = get_unread_messages();

std::lock_guard<std::mutex> lock_mutex(on_new_message_m_);

if (0 < unread_messages) {
callback(user_data, unread_messages);
}
Expand All @@ -227,6 +227,8 @@ SubListener::set_on_new_message_callback(
status_mask |= eprosima::fastdds::dds::StatusMask::data_available();
subscriber_info_->data_reader_->set_listener(this, status_mask);
} else {
std::lock_guard<std::mutex> lock_mutex(on_new_message_m_);

eprosima::fastdds::dds::StatusMask status_mask =
subscriber_info_->data_reader_->get_status_mask();
status_mask &= ~eprosima::fastdds::dds::StatusMask::data_available();
Expand Down