0.7.9

Signed-off-by: Michael Carroll <michael@openrobotics.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.9 (2019-09-20)
+------------------
+* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_) (`#857 <https://github.com/ros2/rclcpp/issues/857>`_)
+* Contributors: Zachary Michaels
+
+0.7.8 (2019-09-06)
+------------------
+
 0.7.7 (2019-07-31)
 ------------------
 * Enabled the creation of a parameter YAML file which is applied to each node. (`#805 <https://github.com/ros2/rclcpp/issues/805>`_)

rclcpp/include/rclcpp/executor.hpp

@@ -22,6 +22,7 @@
 #include <iostream>
 #include <list>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -355,6 +356,9 @@ protected:
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
+  // Mutex to protect the subsequent memory_strategy_.
+  std::mutex memory_strategy_mutex_;
+
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>0.7.7</version>
+  <version>0.7.9</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/src/rclcpp/executor.cpp

@@ -140,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -178,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
       }
     }
   }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -423,43 +425,47 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  // Collect the subscriptions and timers to be waited on
-  memory_strategy_->clear_handles();
-  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+  {
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_nodes) {
-    auto node_it = weak_nodes_.begin();
-    auto gc_it = guard_conditions_.begin();
-    while (node_it != weak_nodes_.end()) {
-      if (node_it->expired()) {
-        node_it = weak_nodes_.erase(node_it);
-        memory_strategy_->remove_guard_condition(*gc_it);
-        gc_it = guard_conditions_.erase(gc_it);
-      } else {
-        ++node_it;
-        ++gc_it;
+    // Collect the subscriptions and timers to be waited on
+    memory_strategy_->clear_handles();
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
+        }
       }
     }
-  }
-  // clear wait set
-  if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
-    throw std::runtime_error("Couldn't clear wait set");
-  }
+    // clear wait set
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
+    }
 
-  // The size of waitables are accounted for in size of the other entities
-  rcl_ret_t ret = rcl_wait_set_resize(
-    &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
-    memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
-    memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
-    memory_strategy_->number_of_ready_events());
-  if (RCL_RET_OK != ret) {
-    throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
-  }
+    // The size of waitables are accounted for in size of the other entities
+    rcl_ret_t ret = rcl_wait_set_resize(
+      &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
+      memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
+      memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
+      memory_strategy_->number_of_ready_events());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
+    }
 
-  if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
-    throw std::runtime_error("Couldn't fill wait set");
+    if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
+      throw std::runtime_error("Couldn't fill wait set");
+    }
   }
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,12 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+
 0.7.7 (2019-07-31)
 ------------------
 

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>0.7.7</version>
+  <version>0.7.9</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+
 0.7.7 (2019-07-31)
 ------------------
 

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>0.7.7</version>
+  <version>0.7.9</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,14 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+* Fixed error messages which were not printing to console. (`#777 <https://github.com/ros2/rclcpp/issues/777>`_) (`#847 <https://github.com/ros2/rclcpp/issues/847>`_)
+* Contributors: Jacob Perron
+
 0.7.7 (2019-07-31)
 ------------------
 * Added a default value to node options in LifecycleNode constructor to match node constructor. Updated API documentation. (`#801 <https://github.com/ros2/rclcpp/issues/801>`_)

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>0.7.7</version>
+  <version>0.7.9</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -425,14 +425,9 @@ public:
       auto callback = it->second;
       try {
         cb_success = callback(State(previous_state));
-      } catch (const std::exception &) {
-        // TODO(karsten1987): Windows CI doesn't let me print the msg here
-        // the todo is to forward the exception to the on_error callback
-        // RCUTILS_LOG_ERROR("Caught exception in callback for transition %d\n",
-        //  it->first);
-        // RCUTILS_LOG_ERROR("Original error msg: %s\n", e.what());
-        // maybe directly go for error handling here
-        // and pass exception along with it
+      } catch (const std::exception & e) {
+        RCUTILS_LOG_ERROR("Caught exception in callback for transition %d", it->first);
+        RCUTILS_LOG_ERROR("Original error: %s", e.what());
         cb_success = node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
       }
     }