add mutex in add/remove_node and wait_for_work to protect concurrent …

…use/change of memory_strategy_ (#837) (#857)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Signed-off-by: Zachary Michaels <zmichaels11@gmail.com>

rclcpp/include/rclcpp/executor.hpp

@@ -22,6 +22,7 @@
 #include <iostream>
 #include <list>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -355,6 +356,9 @@ class Executor
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
+  // Mutex to protect the subsequent memory_strategy_.
+  std::mutex memory_strategy_mutex_;
+
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 

rclcpp/src/rclcpp/executor.cpp

@@ -140,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -178,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
       }
     }
   }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -423,43 +425,47 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  // Collect the subscriptions and timers to be waited on
-  memory_strategy_->clear_handles();
-  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
-
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_nodes) {
-    auto node_it = weak_nodes_.begin();
-    auto gc_it = guard_conditions_.begin();
-    while (node_it != weak_nodes_.end()) {
-      if (node_it->expired()) {
-        node_it = weak_nodes_.erase(node_it);
-        memory_strategy_->remove_guard_condition(*gc_it);
-        gc_it = guard_conditions_.erase(gc_it);
-      } else {
-        ++node_it;
-        ++gc_it;
+  {
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+
+    // Collect the subscriptions and timers to be waited on
+    memory_strategy_->clear_handles();
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
+        }
       }
     }
-  }
-  // clear wait set
-  if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
-    throw std::runtime_error("Couldn't clear wait set");
-  }
+    // clear wait set
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
+    }
 
-  // The size of waitables are accounted for in size of the other entities
-  rcl_ret_t ret = rcl_wait_set_resize(
-    &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
-    memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
-    memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
-    memory_strategy_->number_of_ready_events());
-  if (RCL_RET_OK != ret) {
-    throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
-  }
+    // The size of waitables are accounted for in size of the other entities
+    rcl_ret_t ret = rcl_wait_set_resize(
+      &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
+      memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
+      memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
+      memory_strategy_->number_of_ready_events());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
+    }
 
-  if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
-    throw std::runtime_error("Couldn't fill wait set");
+    if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
+      throw std::runtime_error("Couldn't fill wait set");
+    }
   }
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());