Prevent configuration timeouts from wedging gateway workers#335
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eclipse0922 wants to merge 1 commit intoselfpatch:mainfrom
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Prevent configuration timeouts from wedging gateway workers#335eclipse0922 wants to merge 1 commit intoselfpatch:mainfrom
eclipse0922 wants to merge 1 commit intoselfpatch:mainfrom
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Bound ConfigurationManager spin lock acquisition and SyncParametersClient IPC to the configured service timeout. Slow or hung parameter services now surface TIMEOUT, feed the negative cache, and have regression coverage for slow responses and concurrent contention. Constraint: SyncParametersClient spins a shared node and may block indefinitely when a remote parameter service never replies Rejected: Per-request parameter client nodes | larger structural change without addressing IPC timeout semantics Rejected: HTTP-layer timeouts only | would still leave spin_mutex_ contention inside ConfigurationManager Confidence: high Scope-risk: moderate Reversibility: clean Directive: Keep parameter IPC time-bounded while holding spin_mutex_; do not reintroduce unbounded SyncParametersClient calls Tested: Devcontainer rosdep install; colcon build --packages-up-to ros2_medkit_gateway with -DCMAKE_DISABLE_PRECOMPILE_HEADERS=ON; colcon test --packages-select ros2_medkit_gateway --ctest-args -R test_configuration_manager Not-tested: Full ros2_medkit_gateway test suite; PCH-enabled GCC 13 devcontainer build path (compiler ICE)
eclipse0922
changed the title
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Hey @eclipse0922 |
Collaborator
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This duplicates #333 |
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@mfaferek93 my apologies — I didn’t notice that #333 was already assigned. Thanks for the clarification! |
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Pull Request
Summary
Prevent configuration requests from permanently wedging the gateway when a ROS 2 parameter service stalls.
Issue
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Type
Testing
rosdep install --from-paths src --ignore-src -r -yinside the devcontainercolcon build --build-base /tmp/colcon-build --install-base /tmp/colcon-install --packages-up-to ros2_medkit_gateway --cmake-args -DCMAKE_DISABLE_PRECOMPILE_HEADERS=ONcolcon test --build-base /tmp/colcon-build --install-base /tmp/colcon-install --packages-select ros2_medkit_gateway --ctest-args -R test_configuration_manager --event-handlers console_direct+Checklist
Notes:
-DCMAKE_DISABLE_PRECOMPILE_HEADERS=ON.