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Fix trying to get topic data that was already removed. #417

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merged 3 commits into from
Aug 6, 2020
Merged

Fix trying to get topic data that was already removed. #417

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08632e8
Fix trying to get topic data that was already removed.
Jul 29, 2020
9c1e52e
Revert "Fix trying to get topic data that was already removed."
Aug 5, 2020
6a5272f
Updated based on suggestions
Aug 5, 2020
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35 changes: 12 additions & 23 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,34 +67,23 @@ class SubListener : public EventListenerInterface, public eprosima::fastrtps::Su
// SubscriberListener implementation
void
onSubscriptionMatched(
eprosima::fastrtps::Subscriber * /*sub*/, eprosima::fastrtps::rtps::MatchingInfo & info) final
eprosima::fastrtps::Subscriber * sub, eprosima::fastrtps::rtps::MatchingInfo & info) final
{
std::lock_guard<std::mutex> lock(internalMutex_);
if (eprosima::fastrtps::rtps::MATCHED_MATCHING == info.status) {
publishers_.insert(info.remoteEndpointGuid);
} else if (eprosima::fastrtps::rtps::REMOVED_MATCHING == info.status) {
publishers_.erase(info.remoteEndpointGuid);
{
std::lock_guard<std::mutex> lock(internalMutex_);
if (eprosima::fastrtps::rtps::MATCHED_MATCHING == info.status) {
publishers_.insert(info.remoteEndpointGuid);
} else if (eprosima::fastrtps::rtps::REMOVED_MATCHING == info.status) {
publishers_.erase(info.remoteEndpointGuid);
}
}
update_unread_count(sub);
}

void
onNewDataMessage(eprosima::fastrtps::Subscriber * sub) final
{
// Make sure to call into Fast-RTPS before taking the lock to avoid an
// ABBA deadlock between internalMutex_ and mutexes inside of Fast-RTPS.
#if FASTRTPS_VERSION_MAJOR == 1 && FASTRTPS_VERSION_MINOR < 9
uint64_t unread_count = sub->getUnreadCount();
#else
uint64_t unread_count = sub->get_unread_count();
#endif

std::lock_guard<std::mutex> lock(internalMutex_);

// the change to liveliness_lost_count_ needs to be mutually exclusive with
// rmw_wait() which checks hasEvent() and decides if wait() needs to be called
ConditionalScopedLock clock(conditionMutex_, conditionVariable_);

data_.store(unread_count, std::memory_order_relaxed);
update_unread_count(sub);
}

RMW_FASTRTPS_SHARED_CPP_PUBLIC
Expand Down Expand Up @@ -142,7 +131,7 @@ class SubListener : public EventListenerInterface, public eprosima::fastrtps::Su
}

void
data_taken(eprosima::fastrtps::Subscriber * sub)
update_unread_count(eprosima::fastrtps::Subscriber * sub)
{
// Make sure to call into Fast-RTPS before taking the lock to avoid an
// ABBA deadlock between internalMutex_ and mutexes inside of Fast-RTPS.
Expand All @@ -153,7 +142,7 @@ class SubListener : public EventListenerInterface, public eprosima::fastrtps::Su
#endif

std::lock_guard<std::mutex> lock(internalMutex_);
ConditionalScopedLock clock(conditionMutex_);
ConditionalScopedLock clock(conditionMutex_, conditionVariable_);
data_.store(unread_count, std::memory_order_relaxed);
}

Expand Down
4 changes: 2 additions & 2 deletions rmw_fastrtps_shared_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ _take(
data.data = ros_message;
data.impl = info->type_support_impl_;
if (info->subscriber_->takeNextData(&data, &sinfo)) {
info->listener_->data_taken(info->subscriber_);
info->listener_->update_unread_count(info->subscriber_);

if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
if (message_info) {
Expand Down Expand Up @@ -267,7 +267,7 @@ _take_serialized_message(
data.data = &buffer;
data.impl = nullptr; // not used when is_cdr_buffer is true
if (info->subscriber_->takeNextData(&data, &sinfo)) {
info->listener_->data_taken(info->subscriber_);
info->listener_->update_unread_count(info->subscriber_);

if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
auto buffer_size = static_cast<size_t>(buffer.getBufferSize());
Expand Down