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[rclcpp_action] Action client holds weak pointers to goal handles #1122

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merged 5 commits into from
May 22, 2020
Merged

[rclcpp_action] Action client holds weak pointers to goal handles #1122

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7ac6114
[rclcpp_action] Action client holds weak pointers to goal handles
jacobperron May 20, 2020
9489d48
Move cleanup logic to the end of the function
jacobperron May 21, 2020
089e304
Add TODO
jacobperron May 21, 2020
d06e8e0
Log debug messages when dropping a weak references to goal handles
jacobperron May 21, 2020
7cda497
Improve documentation
jacobperron May 21, 2020
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41 changes: 30 additions & 11 deletions rclcpp_action/include/rclcpp_action/client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -342,6 +342,20 @@ class Client : public ClientBase
std::shared_future<typename GoalHandle::SharedPtr>
async_send_goal(const Goal & goal, const SendGoalOptions & options = SendGoalOptions())
{
// To prevent the list from growing out of control, forget about any goals
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// with no more user references
{
std::lock_guard<std::mutex> guard(goal_handles_mutex_);
auto goal_handle_it = goal_handles_.begin();
while (goal_handle_it != goal_handles_.end()) {
if (!goal_handle_it->second.lock()) {
goal_handle_it = goal_handles_.erase(goal_handle_it);
} else {
++goal_handle_it;
}
}
}

// Put promise in the heap to move it around.
auto promise = std::make_shared<std::promise<typename GoalHandle::SharedPtr>>();
std::shared_future<typename GoalHandle::SharedPtr> future(promise->get_future());
Expand Down Expand Up @@ -494,7 +508,10 @@ class Client : public ClientBase
std::lock_guard<std::mutex> guard(goal_handles_mutex_);
auto it = goal_handles_.begin();
while (it != goal_handles_.end()) {
it->second->invalidate();
typename GoalHandle::SharedPtr goal_handle = it->second.lock();
if (goal_handle) {
goal_handle->invalidate();
}
it = goal_handles_.erase(it);
}
}
Expand Down Expand Up @@ -546,7 +563,12 @@ class Client : public ClientBase
"Received feedback for unknown goal. Ignoring...");
return;
}
typename GoalHandle::SharedPtr goal_handle = goal_handles_[goal_id];
typename GoalHandle::SharedPtr goal_handle = goal_handles_[goal_id].lock();
// Forget about the goal if there are no more user references
if (!goal_handle) {
goal_handles_.erase(goal_id);
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return;
}
auto feedback = std::make_shared<Feedback>();
*feedback = feedback_message->feedback;
goal_handle->call_feedback_callback(goal_handle, feedback);
Expand Down Expand Up @@ -575,16 +597,13 @@ class Client : public ClientBase
"Received status for unknown goal. Ignoring...");
continue;
}
typename GoalHandle::SharedPtr goal_handle = goal_handles_[goal_id];
goal_handle->set_status(status.status);
const int8_t goal_status = goal_handle->get_status();
if (
goal_status == GoalStatus::STATUS_SUCCEEDED ||
goal_status == GoalStatus::STATUS_CANCELED ||
goal_status == GoalStatus::STATUS_ABORTED)
{
typename GoalHandle::SharedPtr goal_handle = goal_handles_[goal_id].lock();
// Forget about the goal if there are no more user references
if (!goal_handle) {
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goal_handles_.erase(goal_id);
continue;
}
goal_handle->set_status(status.status);
}
}

Expand Down Expand Up @@ -639,7 +658,7 @@ class Client : public ClientBase
return future;
}

std::map<GoalUUID, typename GoalHandle::SharedPtr> goal_handles_;
std::map<GoalUUID, typename GoalHandle::WeakPtr> goal_handles_;
std::mutex goal_handles_mutex_;
};
} // namespace rclcpp_action
Expand Down