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fix race condition with callback groups

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This commit is contained in:
Kurt Wilson 2023-05-22 11:58:17 -04:00
parent 08b213858b
commit e7c58ff5b3
1 changed files with 33 additions and 15 deletions
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48
src/priority_executor/src/priority_memory_strategy.cpp
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@ -432,19 +432,7 @@ void PriorityMemoryStrategy<>::get_next_executable(
// std::cout << "all_executables_.size():" << all_executables_.size() << std::endl; // std::cout << "all_executables_.size():" << all_executables_.size() << std::endl;
// log contents of all_executables_ // log contents of all_executables_
// std::cout << exec->name << ": " << exec->handle << " : " << exec->sched_type << std::endl; // std::cout << exec->name << ": " << exec->handle << " : " << exec->sched_type << std::endl;
std::ostringstream oss; std::set<rclcpp::CallbackGroup::SharedPtr> skip_groups;
oss << "{\"operation\":\"get_next_executable\"";
// output names and handles of all_executables_ in json array
oss << ",\"all_executables\":[";
for (auto exec : all_executables_)
{
// if (exec->can_be_run)
oss << "{\"name\":\"" << exec->name << "\", \"sched_type\":\"" << exec->sched_type << "\", \"can_be_run\":\"" << exec->can_be_run << "\"},";
}
// remove trailing comma
oss.seekp(-1, oss.cur);
oss << "]}";
log_entry(logger_, oss.str());
// while (!all_executables_.empty()) // while (!all_executables_.empty())
for (auto exec : all_executables_) for (auto exec : all_executables_)
@ -471,11 +459,18 @@ void PriorityMemoryStrategy<>::get_next_executable(
// it = subscription_handles_.erase(it); // it = subscription_handles_.erase(it);
continue; continue;
} }
if (skip_groups.find(group) != skip_groups.end())
{
// group was used at some point during this loop. skip it so we can re-check it next time
continue;
}
if (!group->can_be_taken_from().load()) if (!group->can_be_taken_from().load())
{ {
// Group is mutually exclusive and is being used, so skip it for now // Group is mutually exclusive and is being used, so skip it for now
// Leave it to be checked next time, but continue searching // Leave it to be checked next time, but continue searching
// ++it; // ++it;
skip_groups.insert(group);
continue; continue;
} }
any_exec.callback_group = group; any_exec.callback_group = group;
@ -555,11 +550,17 @@ void PriorityMemoryStrategy<>::get_next_executable(
// it = subscription_handles_.erase(it); // it = subscription_handles_.erase(it);
continue; continue;
} }
if (skip_groups.find(group) != skip_groups.end())
{
// group was used at some point during this loop. skip it so we can re-check it next time
continue;
}
if (!group->can_be_taken_from().load()) if (!group->can_be_taken_from().load())
{ {
// Group is mutually exclusive and is being used, so skip it for now // Group is mutually exclusive and is being used, so skip it for now
// Leave it to be checked next time, but continue searching // Leave it to be checked next time, but continue searching
// ++it; // ++it;
skip_groups.insert(group);
continue; continue;
} }
any_exec.callback_group = group; any_exec.callback_group = group;
@ -605,11 +606,28 @@ void PriorityMemoryStrategy<>::get_next_executable(
{ {
// std::cout << "running first in chain deadline" << std::endl; // std::cout << "running first in chain deadline" << std::endl;
} }
/* std::ostringstream oss;
oss << "{\"operation\":\"get_next_executable\"";
// output names and handles of all_executables_ in json array
oss << ",\"all_executables\":[";
for (auto exec : all_executables_)
{
// if (exec->can_be_run)
oss << "{\"name\":\"" << exec->name << "\", \"sched_type\":\"" << exec->sched_type << "\", \"can_be_run\":\"" << exec->can_be_run << "\"},";
}
// remove trailing comma
oss.seekp(-1, oss.cur);
oss << "]}";
log_entry(logger_, oss.str());
oss.str("");
oss.clear();
oss << "{\"operation\": \"select_task\", \"task\": \"" << exec->name << "\"}";
log_entry(logger_, oss.str()); */
// returning with an executable // returning with an executable
// remove from all_executables_ map // remove from all_executables_ map
all_executables_.erase(next_exec); all_executables_.erase(next_exec);
std::ostringstream oss;
oss << "{\"operation\": \"select_task\", \"task\": \"" << exec->name << "\"}";
return; return;
} }
} }