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Fix bug that connection drop signal related funtion throw a bad_weak … #1940

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merged 3 commits into from
May 15, 2020
Merged

Fix bug that connection drop signal related funtion throw a bad_weak … #1940

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53557e9
Fix bug that connection drop signal related funtion throw a bad_weak …
Barry-Xu-2018 Apr 27, 2020
12c6872
Fix dead lock about call_queue_mutex_ and drop_mutex_ in two threads
Barry-Xu-2018 Apr 28, 2020
1d43f22
Remove check that is not necessary
Barry-Xu-2018 May 15, 2020
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3 changes: 3 additions & 0 deletions clients/roscpp/include/ros/transport_publisher_link.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@
#include "publisher_link.h"
#include "connection.h"

#include <boost/signals2/connection.hpp>

namespace ros
{
class Header;
Expand Down Expand Up @@ -79,6 +81,7 @@ class ROSCPP_DECL TransportPublisherLink : public PublisherLink
void onRetryTimer(const ros::SteadyTimerEvent&);

ConnectionPtr connection_;
boost::signals2::connection dropped_conn_;

int32_t retry_timer_handle_;
bool needs_retry_;
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9 changes: 7 additions & 2 deletions clients/roscpp/src/libros/connection.cpp
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Expand Up @@ -93,7 +93,9 @@ boost::signals2::connection Connection::addDropListener(const DropFunc& slot)
void Connection::removeDropListener(const boost::signals2::connection& c)
{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
c.disconnect();
if (c.connected()) {
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c.disconnect();
}
}

void Connection::onReadable(const TransportPtr& transport)
Expand Down Expand Up @@ -337,7 +339,10 @@ void Connection::drop(DropReason reason)

if (did_drop)
{
drop_signal_(shared_from_this(), reason);
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{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
drop_signal_(shared_from_this(), reason);
}
transport_->close();
}
}
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4 changes: 2 additions & 2 deletions clients/roscpp/src/libros/service_server_link.cpp
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Expand Up @@ -340,15 +340,15 @@ bool ServiceServerLink::call(const SerializedMessage& req, SerializedMessage& re

bool immediate = false;
{
boost::mutex::scoped_lock lock(call_queue_mutex_);

if (connection_->isDropped())
{
ROSCPP_LOG_DEBUG("ServiceServerLink::call called on dropped connection for service [%s]", service_name_.c_str());
info->call_finished_ = true;
return false;
}

boost::mutex::scoped_lock lock(call_queue_mutex_);
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if (call_queue_.empty() && header_written_ && header_read_)
{
immediate = true;
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3 changes: 2 additions & 1 deletion clients/roscpp/src/libros/transport_publisher_link.cpp
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Expand Up @@ -73,6 +73,7 @@ TransportPublisherLink::~TransportPublisherLink()
}

connection_->drop(Connection::Destructing);
connection_->removeDropListener(dropped_conn_);
}

bool TransportPublisherLink::initialize(const ConnectionPtr& connection)
Expand All @@ -82,7 +83,7 @@ bool TransportPublisherLink::initialize(const ConnectionPtr& connection)
// and disconnect when this class' reference count is decremented to 0. It increments
// then decrements the shared_from_this reference count around calls to the
// onConnectionDropped function, preventing a coredump in the middle of execution.
connection_->addDropListener(Connection::DropSignal::slot_type(&TransportPublisherLink::onConnectionDropped, this, _1, _2).track(shared_from_this()));
dropped_conn_ = connection_->addDropListener(Connection::DropSignal::slot_type(&TransportPublisherLink::onConnectionDropped, this, _1, _2).track(shared_from_this()));

if (connection_->getTransport()->requiresHeader())
{
Expand Down
1 change: 1 addition & 0 deletions clients/roscpp/src/libros/transport_subscriber_link.cpp
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Expand Up @@ -52,6 +52,7 @@ TransportSubscriberLink::TransportSubscriberLink()
TransportSubscriberLink::~TransportSubscriberLink()
{
drop();
connection_->removeDropListener(dropped_conn_);
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}

bool TransportSubscriberLink::initialize(const ConnectionPtr& connection)
Expand Down