Iron: Support intra-process communication: Clients & Services & Actions #129
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The initial implementation of the events-executor contained a bug where the executor would end up in an inconsistent state and stop processing interrupt/shutdown notifications. Manually adding a node to the executor results in a) producing a notify waitable event and b) refreshing the executor collections. The inconsistent state would happen if the event was processed before the collections were finished to be refreshed: the executor would pick up the event but be unable to process it. This would leave the `notify_waitable_event_pushed_` flag to true, preventing additional notify waitable events to be pushed. The behavior is observable only under heavy load. Signed-off-by: Alberto Soragna <[email protected]>
…it-test (ros2#2187) Signed-off-by: Alberto Soragna <[email protected]>
This is to ensure callbacks are destroyed last on entities destruction, avoiding the gap in time in which rmw entities hold a reference to a destroyed function. Signed-off-by: Mauro Passerino <[email protected]> Co-authored-by: Mauro Passerino <[email protected]>
…ros2#2276) * Do not crash Executor when send_response fails due to client failure. Related to ros2/ros2#1253 It is not sane that a faulty client can crash our service Executor, as discussed in the referred issue, if the client is not setup properly, send_response may return RCL_RET_TIMEOUT, we should not throw an error in this case. Signed-off-by: Zang MingJie <[email protected]> * Update rclcpp/include/rclcpp/service.hpp Co-authored-by: Tomoya Fujita <[email protected]> Signed-off-by: Zang MingJie <[email protected]> * address review comments. Signed-off-by: Tomoya Fujita <[email protected]> --------- Signed-off-by: Zang MingJie <[email protected]> Signed-off-by: Tomoya Fujita <[email protected]> Co-authored-by: Zang MingJie <[email protected]>
…iron Do not crash Executor when send_response fails due to client failure.…
We need this because it is possible for one thread to be handling the on_parameter_event callback while another one is detaching the node. This lock will protect that from happening. Signed-off-by: Chris Lalancette <[email protected]>
…on-params-event Iron: Fix data race on parameter event
Both the EventHandler and its associated pubs/subs share the same underlying rmw event listener. When a pub/sub is destroyed, the listener is destroyed. There is a data race when the ~EventHandlerBase wants to access the listener after it has been destroyed. The EventHandler stores a shared_ptr of its associated pub/sub. But since we were clearing the listener event callbacks on the base class destructor ~EventHandlerBase, the pub/sub was already destroyed, which means the rmw event listener was also destroyed, thus causing a segfault when trying to obtain it to clear the callbacks. Clearing the callbacks on ~EventHandler instead of ~EventHandlerBase avoids the race, since the pub/sub are still valid. Signed-off-by: Mauro Passerino <[email protected]>
…a-race-events Fix data race in ~EventHandlerBase
Signed-off-by: Mauro Passerino <[email protected]>
Signed-off-by: Mauro Passerino <[email protected]>
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Support intra-process communication: Clients & Services & Actions