niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Avoid race that triggers timer too often (#621)

Browse source 
The two distinct operations of acquiring and subsequent checking of a
timer have to be protected by one lock_guard against races with other
threads. The releasing of a timer has to be protected by the same lock.

Given this requirement there is no use for a second mutex.

Signed-off-by: Marko Durkovic <marko@ternaris.com>
This commit is contained in:
Marko Durkovic 2019-03-23 08:18:43 +01:00 • committed by William Woodall
parent 43f891dac8
commit 0a44344f43
2 changed files with 1 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

1
rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
View file

@ -78,7 +78,6 @@ private:
size_t number_of_threads_; size_t number_of_threads_;
bool yield_before_execute_; bool yield_before_execute_;
std::mutex scheduled_timers_mutex_;
std::set<TimerBase::SharedPtr> scheduled_timers_; std::set<TimerBase::SharedPtr> scheduled_timers_;
}; };

3
rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
View file

@ -82,7 +82,6 @@ MultiThreadedExecutor::run(size_t)
} }
if (any_exec.timer) { if (any_exec.timer) {
// Guard against multiple threads getting the same timer. // Guard against multiple threads getting the same timer.
std::lock_guard<std::mutex> lock(scheduled_timers_mutex_);
if (scheduled_timers_.count(any_exec.timer) != 0) { if (scheduled_timers_.count(any_exec.timer) != 0) {
continue; continue;
} }
@ -96,7 +95,7 @@ MultiThreadedExecutor::run(size_t)
execute_any_executable(any_exec); execute_any_executable(any_exec);
if (any_exec.timer) { if (any_exec.timer) {
std::lock_guard<std::mutex> lock(scheduled_timers_mutex_); std::lock_guard<std::mutex> wait_lock(wait_mutex_);
auto it = scheduled_timers_.find(any_exec.timer); auto it = scheduled_timers_.find(any_exec.timer);
if (it != scheduled_timers_.end()) { if (it != scheduled_timers_.end()) {
scheduled_timers_.erase(it); scheduled_timers_.erase(it);