Fix data race in Actions: Part 2 #148
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alsora
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Aug 12, 2024
apojomovsky
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* Fixes for intra-process actions (#144) * Fixes for intra-process Actions * Fixes for Clang builds * Fix deadlock * Server to store results until client requests them * Fix feedback/result data race See ros2#2451 * Add missing mutex * Check return value of intra_process_action_send --------- Co-authored-by: Mauro Passerino <mpasserino@irobot.com> * Fix IPC Actions data race (#147) * Check if goal was sent through IPC before send responses * Add intra_process_action_server_is_available API to intra-process Client --------- Co-authored-by: Mauro Passerino <mpasserino@irobot.com> * Fix data race in Actions: Part 2 (#148) * Fix data race in Actions: Part 2 * Fix warning - copy elision --------- Co-authored-by: Mauro Passerino <mpasserino@irobot.com> * fix: Fixed race condition in action server between is_ready and take"… (ros2#2531) * fix: Fixed race condition in action server between is_ready and take" (ros2#2495) Some background information: is_ready, take_data and execute data may be called from different threads in any order. The code in the old state expected them to be called in series, without interruption. This lead to multiple race conditions, as the state of the pimpl objects was altered by the three functions in a non thread safe way. Co-authored-by: William Woodall <william@osrfoundation.org> Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * fix: added workaround for call to double calls to take_data This adds a workaround for a known bug in the executor in iron. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: William Woodall <william@osrfoundation.org> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Mauro Passerino <mpasserino@irobot.com> Co-authored-by: jmachowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: William Woodall <william@osrfoundation.org>
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The method used in #147 to verify if a goal was sent through inter or intra-process, was checking if the IntraProcessClient had the GoalID stored on the reponse buffers.
This approach didn't work in all scenarios, since the GoalID could be removed from the client even if the goal is still alive (after responses were processed).
The approach in this PR is similar - it also looks for the GoalID, but in the intra-process manager which has the goal ID stored for all the lifetime of the goal. So at any moment we can determine if the goal was or not sent though IPC.