Avoid losing waitable handles while using MultiThreadedExecutor #2109

Barry-Xu-2018 · 2023-02-21T08:01:00Z

Address #2012

This patch may not be the best fix.
But I hope to find the best fix by discussing this patch.

iuhilnehc-ynos

Personally, I can't figure out a better way to fix the issue.
So it LGTM.

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

fujitatomoya

lgtm

fujitatomoya · 2023-02-28T21:26:30Z

This changes ABI, so that we cannot backport this to humble. but i believe this is the problem must be addressed to Iron Release. I will start the CI.

@clalancette @wjwwood requesting another review on this.

fujitatomoya · 2023-02-28T21:29:01Z

CI:

Linux
Linux-aarch64
Windows

fujitatomoya · 2023-03-01T04:57:00Z

@Barry-Xu-2018 can you rebase this? we are having build failure, see https://ci.ros2.org/job/ci_linux/18122/console

Signed-off-by: Barry Xu <[email protected]>

Barry-Xu-2018 · 2023-03-01T05:28:28Z

Rpr__rclcpp__ubuntu_jammy_amd64 failed since latest code use service_introspection head file which isn't included in build system.

Barry-Xu-2018 · 2023-03-01T05:36:24Z

@fujitatomoya Rebase was done.

…est case Signed-off-by: Barry Xu <[email protected]>

fujitatomoya · 2023-03-01T17:36:33Z

CI:

Linux
Linux-aarch64
Windows

Barry-Xu-2018 · 2023-03-02T01:56:46Z

After checking,
Linux failure is related to python_qt_binding. So it isn't related to this patch.
Linux-aarch64 failure is related to internal error for CI system.

clalancette · 2023-03-02T14:32:45Z

Linux-aarch64 failure is related to internal error for CI system.

Yeah, it got re-run. I've updated Tomoya's post to show the re-run.

While I don't think this PR is causing the CI to go yellow, I'm going to re-run this anyway:

Linux
Linux-aarch64
Windows

fujitatomoya · 2023-03-13T17:09:37Z

@clalancette @mjcarroll thanks for checking on this.

https://ci.ros2.org/job/ci_windows/18812/testReport/junit/launch_testing_examples.launch_testing_examples/check_multiple_nodes_launch_test/launch_testing_examples_check_multiple_nodes_launch_test/ is not related, i will go ahead to merge this.

fujitatomoya · 2023-03-13T17:10:59Z

this cannot be backport to humble since it requires ABI change.

…#2109) Signed-off-by: Barry Xu <[email protected]>

…or (ros2#2109)" This reverts commit 232262c.

…or (ros2#2109)" This reverts commit 232262c. Signed-off-by: Janosch Machowinski <[email protected]>

wjwwood · 2024-01-04T02:14:00Z

Just to help with cross-referencing, we're discussing in a few places whether or not this is the right fix for this issue: #2371 (comment)

I'm currently leaning towards the idea that this is not the right fix and instead we should change specific waitables to address this issue.

…#2109) Signed-off-by: Barry Xu <[email protected]>

…or (ros2#2109)" This reverts commit 232262c.

…or (ros2#2109)" This reverts commit 232262c. Signed-off-by: Janosch Machowinski <[email protected]>

…or (#2109)" This reverts commit 232262c.

…or (ros2#2109)" This reverts commit 232262c.

…or (#2109)" This reverts commit 232262c.

…or (ros2#2109)" This reverts commit 232262c.

…or (#2109)" This reverts commit 232262c.

…or (#2109)" This reverts commit 232262c. Signed-off-by: William Woodall <[email protected]>

Barry-Xu-2018 requested review from hidmic, ivanpauno and wjwwood as code owners February 21, 2023 08:01

Barry-Xu-2018 marked this pull request as draft February 21, 2023 09:33

Barry-Xu-2018 force-pushed the topic-fix-bug-rclcpp-2012 branch from 7ac0f83 to aeaf0f4 Compare February 22, 2023 06:46

Barry-Xu-2018 marked this pull request as ready for review February 22, 2023 06:47

Barry-Xu-2018 force-pushed the topic-fix-bug-rclcpp-2012 branch from 324f864 to 3eaf60a Compare February 22, 2023 09:28

iuhilnehc-ynos approved these changes Feb 23, 2023

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rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp Outdated Show resolved Hide resolved

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp Outdated Show resolved Hide resolved

Barry-Xu-2018 force-pushed the topic-fix-bug-rclcpp-2012 branch from e00bfd2 to 09262fb Compare February 23, 2023 05:06

fujitatomoya mentioned this pull request Feb 28, 2023

MultiThreadedExecutor(MutuallyExclusive) sometimes misses to execute Waitable #2012

Closed

fujitatomoya approved these changes Feb 28, 2023

View reviewed changes

Barry-Xu-2018 added 3 commits March 1, 2023 13:01

Avoid losing waitable handles while using MultiThreadedExecutor

ab50018

Signed-off-by: Barry Xu <[email protected]>

Remove wrong change

122e180

Signed-off-by: Barry Xu <[email protected]>

Optimize codes

9f25339

Signed-off-by: Barry Xu <[email protected]>

Barry-Xu-2018 force-pushed the topic-fix-bug-rclcpp-2012 branch from 09262fb to 9f25339 Compare March 1, 2023 05:25

Update test case 'get_next_waitable' and remove trick code for this t…

348ab51

…est case Signed-off-by: Barry Xu <[email protected]>

mjcarroll approved these changes Mar 13, 2023

View reviewed changes

fujitatomoya merged commit 232262c into ros2:rolling Mar 13, 2023

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 28, 2023

Avoid losing waitable handles while using MultiThreadedExecutor (ros2…

c3052ca

…#2109) Signed-off-by: Barry Xu <[email protected]>

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 29, 2023

Avoid losing waitable handles while using MultiThreadedExecutor (ros2…

d41b913

…#2109) Signed-off-by: Barry Xu <[email protected]>

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 29, 2023

Avoid losing waitable handles while using MultiThreadedExecutor (ros2…

c771dbd

…#2109) Signed-off-by: Barry Xu <[email protected]>

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 29, 2023

Avoid losing waitable handles while using MultiThreadedExecutor (ros2…

c71ba0d

…#2109) Signed-off-by: Barry Xu <[email protected]>

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request May 3, 2023

Avoid losing waitable handles while using MultiThreadedExecutor (ros2…

3953908

…#2109) Signed-off-by: Barry Xu <[email protected]>

jmachowinski mentioned this pull request Nov 13, 2023

fix: Fixed race condition in action server between is_ready and take #2250

Closed

jmachowinski pushed a commit to jmachowinski/rclcpp that referenced this pull request Dec 6, 2023

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

7208854

…or (ros2#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to cellumation/rclcpp that referenced this pull request Dec 6, 2023

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

898bb90

…or (ros2#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to jmachowinski/rclcpp that referenced this pull request Dec 8, 2023

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

fbadea8

…or (ros2#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to jmachowinski/rclcpp that referenced this pull request Dec 14, 2023

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

3912404

…or (ros2#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to jmachowinski/rclcpp that referenced this pull request Dec 14, 2023

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

9f2ec0c

…or (ros2#2109)" This reverts commit 232262c. Signed-off-by: Janosch Machowinski <[email protected]>

This was referenced Jan 4, 2024

Added test cased for missing events & double call to take_data #2371

Closed

Utilize rclcpp::WaitSet as part of the executors #2142

Merged

Barry-Xu-2018 added a commit to Barry-Xu-2018/rclcpp that referenced this pull request Jan 12, 2024

Avoid losing waitable handles while using MultiThreadedExecutor (ros2…

320c111

…#2109) Signed-off-by: Barry Xu <[email protected]>

jmachowinski pushed a commit to jmachowinski/rclcpp that referenced this pull request Jan 29, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

522906b

…or (ros2#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to jmachowinski/rclcpp that referenced this pull request Jan 29, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

6c4c6a2

…or (ros2#2109)" This reverts commit 232262c. Signed-off-by: Janosch Machowinski <[email protected]>

wjwwood added a commit that referenced this pull request Jan 30, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

e8c7270

…or (#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to cellumation/rclcpp that referenced this pull request Mar 26, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

69add7e

…or (ros2#2109)" This reverts commit 232262c.

wjwwood added a commit that referenced this pull request Mar 27, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

633898f

…or (#2109)" This reverts commit 232262c.

wjwwood added a commit that referenced this pull request Mar 27, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

c70e997

…or (#2109)" This reverts commit 232262c.

wjwwood added a commit that referenced this pull request Mar 27, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

d7601b5

…or (#2109)" This reverts commit 232262c.

jmachowinski pushed a commit to cellumation/rclcpp that referenced this pull request Apr 2, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

710b41f

…or (ros2#2109)" This reverts commit 232262c.

wjwwood added a commit that referenced this pull request Apr 3, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

60a7926

…or (#2109)" This reverts commit 232262c.

wjwwood added a commit that referenced this pull request Apr 4, 2024

Revert "Avoid losing waitable handles while using MultiThreadedExecut…

8a470c3

…or (#2109)" This reverts commit 232262c. Signed-off-by: William Woodall <[email protected]>

jmachowinski mentioned this pull request May 14, 2024

fix: Fixed race condition in action server between is_ready and take"… #2531

Merged

Avoid losing waitable handles while using MultiThreadedExecutor #2109

Avoid losing waitable handles while using MultiThreadedExecutor #2109

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