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Fix thread safety in LifecycleNode::get_current_state() for Humble #2183
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clalancette
merged 8 commits into
ros2:humble
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schornakj:pr-backport-lifecycle-state-fix
Jun 27, 2023
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5cbd9df
add initially-failing test case
schornakj e8e6d89
apply changes to LifecycleNodeInterfaceImpl from #1756
schornakj b69914e
fix formatting
schornakj 041f097
add static member to State for managing state_handle_ access
schornakj eddaa82
allow parallel read access in MutexMap
schornakj 9273296
mark getMutex as const
schornakj c19cc16
revert unnecessary line deletion
schornakj b5d61a4
add includes to mutex_map.cpp
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Original file line number | Diff line number | Diff line change |
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// Copyright 2023 PickNik, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include "mutex_map.hpp" | ||
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#include <memory> | ||
#include <shared_mutex> | ||
#include <thread> | ||
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namespace rclcpp_lifecycle | ||
{ | ||
void MutexMap::add(const State * key) | ||
{ | ||
// Adding a new mutex to the map requires exclusive access | ||
std::unique_lock lock(map_access_mutex_); | ||
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mutex_map_.emplace(key, std::make_unique<std::recursive_mutex>()); | ||
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} | ||
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std::recursive_mutex & MutexMap::getMutex(const State * key) const | ||
{ | ||
// Multiple threads can retrieve mutexes from the map at the same time | ||
std::shared_lock lock(map_access_mutex_); | ||
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return *(mutex_map_.at(key)); | ||
} | ||
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void MutexMap::remove(const State * key) | ||
{ | ||
// Removing a mutex from the map requires exclusive access | ||
std::unique_lock lock(map_access_mutex_); | ||
mutex_map_.erase(key); | ||
} | ||
} // namespace rclcpp_lifecycle |
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