23.0.0

Signed-off-by: Chris Lalancette <clalancette@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+23.0.0 (2023-09-08)
+-------------------
+* Fix the return type of Rate::period. (`#2301 <https://github.com/ros2/rclcpp/issues/2301>`_)
+* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
+* Cleanup flaky timers_manager tests. (`#2299 <https://github.com/ros2/rclcpp/issues/2299>`_)
+* Contributors: Chris Lalancette, Christophe Bedard
+
 22.2.0 (2023-09-07)
 -------------------
 * Topic correct typeadapter deduction (`#2294 <https://github.com/ros2/rclcpp/issues/2294>`_)

rclcpp/README.md

@@ -2,7 +2,7 @@
 
 The ROS client library in C++.
 
-Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components and features.
+The link to the latest rclcpp API documentation, which includes a complete list of its main components and features, can be found on the rclcpp package info page, at the [ROS Index](https://index.ros.org/p/rclcpp/).
 
 ## Quality Declaration
 

rclcpp/include/rclcpp/experimental/timers_manager.hpp

@@ -527,7 +527,7 @@ private:
   void execute_ready_timers_unsafe();
 
   // Callback to be called when timer is ready
-  std::function<void(const rclcpp::TimerBase *)> on_ready_callback_ = nullptr;
+  std::function<void(const rclcpp::TimerBase *)> on_ready_callback_;
 
   // Thread used to run the timers execution task
   std::thread timers_thread_;

rclcpp/include/rclcpp/rate.hpp

@@ -163,7 +163,7 @@ public:
   reset();
 
   RCLCPP_PUBLIC
-  Duration
+  std::chrono::nanoseconds
   period() const;
 
 private:

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>22.2.0</version>
+  <version>23.0.0</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -28,9 +28,9 @@ using rclcpp::experimental::TimersManager;
 TimersManager::TimersManager(
   std::shared_ptr<rclcpp::Context> context,
   std::function<void(const rclcpp::TimerBase *)> on_ready_callback)
+: on_ready_callback_(on_ready_callback),
+  context_(context)
 {
-  context_ = context;
-  on_ready_callback_ = on_ready_callback;
 }
 
 TimersManager::~TimersManager()

rclcpp/src/rclcpp/rate.cpp

@@ -14,6 +14,7 @@
 
 #include "rclcpp/rate.hpp"
 
+#include <chrono>
 #include <stdexcept>
 
 namespace rclcpp
@@ -87,10 +88,10 @@ Rate::reset()
   last_interval_ = clock_->now();
 }
 
-Duration
+std::chrono::nanoseconds
 Rate::period() const
 {
-  return period_;
+  return std::chrono::nanoseconds(period_.nanoseconds());
 }
 
 WallRate::WallRate(const double rate)

rclcpp/test/rclcpp/test_timers_manager.cpp

@@ -15,6 +15,7 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
+#include <cmath>
 #include <memory>
 #include <utility>
 
@@ -65,8 +66,10 @@ TEST_F(TestTimersManager, empty_manager)
 TEST_F(TestTimersManager, add_run_remove_timer)
 {
   size_t t_runs = 0;
+  std::chrono::milliseconds timer_period(10);
+
   auto t = TimerT::make_shared(
-    10ms,
+    timer_period,
     [&t_runs]() {
       t_runs++;
     },
@@ -79,7 +82,7 @@ TEST_F(TestTimersManager, add_run_remove_timer)
   timers_manager->add_timer(t);
 
   // Sleep for more 3 times the timer period
-  std::this_thread::sleep_for(30ms);
+  std::this_thread::sleep_for(3 * timer_period);
 
   // The timer is executed only once, even if we slept 3 times the period
   execute_all_ready_timers(timers_manager);
@@ -191,67 +194,6 @@ TEST_F(TestTimersManager, head_not_ready)
   EXPECT_EQ(0u, t_runs);
 }
 
-TEST_F(TestTimersManager, timers_order)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t1_runs = 0;
-  auto t1 = TimerT::make_shared(
-    10ms,
-    [&t1_runs]() {
-      t1_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t2_runs = 0;
-  auto t2 = TimerT::make_shared(
-    30ms,
-    [&t2_runs]() {
-      t2_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t3_runs = 0;
-  auto t3 = TimerT::make_shared(
-    100ms,
-    [&t3_runs]() {
-      t3_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  // Add timers in a random order
-  timers_manager->add_timer(t2);
-  timers_manager->add_timer(t3);
-  timers_manager->add_timer(t1);
-
-  std::this_thread::sleep_for(10ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(1u, t1_runs);
-  EXPECT_EQ(0u, t2_runs);
-  EXPECT_EQ(0u, t3_runs);
-
-  std::this_thread::sleep_for(30ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(2u, t1_runs);
-  EXPECT_EQ(1u, t2_runs);
-  EXPECT_EQ(0u, t3_runs);
-
-  std::this_thread::sleep_for(100ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(3u, t1_runs);
-  EXPECT_EQ(2u, t2_runs);
-  EXPECT_EQ(1u, t3_runs);
-
-  timers_manager->remove_timer(t1);
-
-  std::this_thread::sleep_for(30ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(3u, t1_runs);
-  EXPECT_EQ(3u, t2_runs);
-  EXPECT_EQ(1u, t3_runs);
-}
-
 TEST_F(TestTimersManager, start_stop_timers_thread)
 {
   auto timers_manager = std::make_shared<TimersManager>(
@@ -274,7 +216,7 @@ TEST_F(TestTimersManager, timers_thread)
   auto timers_manager = std::make_shared<TimersManager>(
     rclcpp::contexts::get_global_default_context());
 
-  size_t t1_runs = 0;
+  int t1_runs = 0;
   auto t1 = TimerT::make_shared(
     1ms,
     [&t1_runs]() {
@@ -282,7 +224,7 @@ TEST_F(TestTimersManager, timers_thread)
     },
     rclcpp::contexts::get_global_default_context());
 
-  size_t t2_runs = 0;
+  int t2_runs = 0;
   auto t2 = TimerT::make_shared(
     1ms,
     [&t2_runs]() {
@@ -296,12 +238,12 @@ TEST_F(TestTimersManager, timers_thread)
 
   // Run timers thread for a while
   timers_manager->start();
-  std::this_thread::sleep_for(5ms);
+  std::this_thread::sleep_for(50ms);
   timers_manager->stop();
 
   EXPECT_LT(1u, t1_runs);
   EXPECT_LT(1u, t2_runs);
-  EXPECT_EQ(t1_runs, t2_runs);
+  EXPECT_LE(std::abs(t1_runs - t2_runs), 1);
 }
 
 TEST_F(TestTimersManager, destructor)
@@ -365,13 +307,13 @@ TEST_F(TestTimersManager, add_remove_while_thread_running)
   timers_manager->start();
 
   // After a while remove t1 and add t2
-  std::this_thread::sleep_for(5ms);
+  std::this_thread::sleep_for(50ms);
   timers_manager->remove_timer(t1);
   size_t tmp_t1 = t1_runs;
   timers_manager->add_timer(t2);
 
   // Wait some more time and then stop
-  std::this_thread::sleep_for(5ms);
+  std::this_thread::sleep_for(50ms);
   timers_manager->stop();
 
   // t1 has stopped running

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,12 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+23.0.0 (2023-09-08)
+-------------------
+* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
+* fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks (`#2267 <https://github.com/ros2/rclcpp/issues/2267>`_)
+* Contributors: Christophe Bedard, jmachowinski
+
 22.2.0 (2023-09-07)
 -------------------
 * Correct the position of a comment. (`#2290 <https://github.com/ros2/rclcpp/issues/2290>`_)

rclcpp_action/README.md

@@ -2,7 +2,8 @@
 
 Adds action APIs for C++.
 
-Visit the [rclcpp_action API documentation](http://docs.ros2.org/latest/api/rclcpp_action/) for a complete list of its main components and features. For more information about Actions in ROS 2, see the [design document](http://design.ros2.org/articles/actions.html).
+The link to the latest rclcpp_action API documentation, which includes a complete list of its main components and features, can be found on the rclcpp_action package info page, at the [ROS Index](https://index.ros.org/p/rclcpp_action/).
+For more information about Actions in ROS 2, see the [design document](http://design.ros2.org/articles/actions.html).
 
 ## Quality Declaration
 

rclcpp_action/include/rclcpp_action/client_goal_handle.hpp

@@ -163,7 +163,7 @@ private:
   ResultCallback result_callback_{nullptr};
   int8_t status_{GoalStatus::STATUS_ACCEPTED};
 
-  std::mutex handle_mutex_;
+  std::recursive_mutex handle_mutex_;
 };
 }  // namespace rclcpp_action
 

rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp

@@ -59,7 +59,7 @@ template<typename ActionT>
 std::shared_future<typename ClientGoalHandle<ActionT>::WrappedResult>
 ClientGoalHandle<ActionT>::async_get_result()
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   if (!is_result_aware_) {
     throw exceptions::UnawareGoalHandleError();
   }
@@ -70,7 +70,7 @@ template<typename ActionT>
 void
 ClientGoalHandle<ActionT>::set_result(const WrappedResult & wrapped_result)
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   status_ = static_cast<int8_t>(wrapped_result.code);
   result_promise_.set_value(wrapped_result);
   if (result_callback_) {
@@ -82,7 +82,7 @@ template<typename ActionT>
 void
 ClientGoalHandle<ActionT>::set_feedback_callback(FeedbackCallback callback)
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   feedback_callback_ = callback;
 }
 
@@ -90,7 +90,7 @@ template<typename ActionT>
 void
 ClientGoalHandle<ActionT>::set_result_callback(ResultCallback callback)
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   result_callback_ = callback;
 }
 
@@ -98,7 +98,7 @@ template<typename ActionT>
 int8_t
 ClientGoalHandle<ActionT>::get_status()
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   return status_;
 }
 
@@ -106,7 +106,7 @@ template<typename ActionT>
 void
 ClientGoalHandle<ActionT>::set_status(int8_t status)
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   status_ = status;
 }
 
@@ -114,7 +114,7 @@ template<typename ActionT>
 bool
 ClientGoalHandle<ActionT>::is_feedback_aware()
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   return feedback_callback_ != nullptr;
 }
 
@@ -122,7 +122,7 @@ template<typename ActionT>
 bool
 ClientGoalHandle<ActionT>::is_result_aware()
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   return is_result_aware_;
 }
 
@@ -130,7 +130,7 @@ template<typename ActionT>
 bool
 ClientGoalHandle<ActionT>::set_result_awareness(bool awareness)
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   bool previous = is_result_aware_;
   is_result_aware_ = awareness;
   return previous;
@@ -140,7 +140,7 @@ template<typename ActionT>
 void
 ClientGoalHandle<ActionT>::invalidate(const exceptions::UnawareGoalHandleError & ex)
 {
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   // Guard against multiple calls
   if (is_invalidated()) {
     return;
@@ -168,7 +168,7 @@ ClientGoalHandle<ActionT>::call_feedback_callback(
     RCLCPP_ERROR(rclcpp::get_logger("rclcpp_action"), "Sent feedback to wrong goal handle.");
     return;
   }
-  std::lock_guard<std::mutex> guard(handle_mutex_);
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
   if (nullptr == feedback_callback_) {
     // Normal, some feedback messages may arrive after the goal result.
     RCLCPP_DEBUG(rclcpp::get_logger("rclcpp_action"), "Received feedback but goal ignores it.");

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>22.2.0</version>
+  <version>23.0.0</version>
   <description>Adds action APIs for C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_action/test/test_client.cpp

@@ -852,6 +852,86 @@ TEST_F(TestClientAgainstServer, async_cancel_some_goals_with_callback)
   EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
 }
 
+TEST_F(TestClientAgainstServer, deadlock_in_callbacks)
+{
+  std::atomic<bool> feedback_callback_called = false;
+  std::atomic<bool> response_callback_called = false;
+  std::atomic<bool> result_callback_called = false;
+  std::atomic<bool> no_deadlock = false;
+
+  std::thread tr = std::thread(
+    [&]() {
+      auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+      ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
+
+      ActionGoal goal;
+
+      using GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>;
+      rclcpp_action::Client<ActionType>::SendGoalOptions ops;
+      ops.feedback_callback =
+      [&feedback_callback_called](const GoalHandle::SharedPtr handle,
+      ActionType::Feedback::ConstSharedPtr) {
+        // call functions on the handle that acquire the lock
+        handle->get_status();
+        handle->is_feedback_aware();
+        handle->is_result_aware();
+
+        feedback_callback_called = true;
+      };
+      ops.goal_response_callback = [&response_callback_called](
+        const GoalHandle::SharedPtr & handle) {
+        // call functions on the handle that acquire the lock
+        handle->get_status();
+        handle->is_feedback_aware();
+        handle->is_result_aware();
+
+        response_callback_called = true;
+      };
+      ops.result_callback = [&result_callback_called](
+        const GoalHandle::WrappedResult &) {
+        result_callback_called = true;
+      };
+
+      goal.order = 6;
+      auto future_goal_handle = action_client->async_send_goal(goal, ops);
+      dual_spin_until_future_complete(future_goal_handle);
+      auto goal_handle = future_goal_handle.get();
+
+      ASSERT_TRUE(goal_handle);
+
+      ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(clock.get_clock_handle(), RCL_S_TO_NS(2)));
+
+      auto result_future = action_client->async_get_result(goal_handle);
+      dual_spin_until_future_complete(result_future);
+
+      EXPECT_TRUE(result_future.valid());
+      auto result = result_future.get();
+
+      no_deadlock = true;
+    });
+
+  auto start_time = std::chrono::system_clock::now();
+
+  while (std::chrono::system_clock::now() - start_time < std::chrono::milliseconds(2000) &&
+    !no_deadlock)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
+
+  if (no_deadlock) {
+    tr.join();
+  } else {
+    // In case of a failure, the thread is assumed to be in a deadlock.
+    // We detach the thread so we don't block further tests.
+    tr.detach();
+  }
+
+  EXPECT_TRUE(no_deadlock);
+  EXPECT_TRUE(response_callback_called);
+  EXPECT_TRUE(result_callback_called);
+  EXPECT_TRUE(feedback_callback_called);
+}
+
 TEST_F(TestClientAgainstServer, send_rcl_errors)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+23.0.0 (2023-09-08)
+-------------------
+* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
+* Contributors: Christophe Bedard
+
 22.2.0 (2023-09-07)
 -------------------
 

rclcpp_components/README.md

@@ -2,7 +2,7 @@
 
 Package containing tools for dynamically loadable components.
 
-Visit the [rclcpp_components API documentation](http://docs.ros2.org/latest/api/rclcpp_components/) for a complete list of its main components and features.
+The link to the latest rclcpp_components API documentation, which includes a complete list of its main components and features, can be found on the rclcpp_components package info page, at the [ROS Index](https://index.ros.org/p/rclcpp_components/).
 
 ## Quality Declaration
 

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>22.2.0</version>
+  <version>23.0.0</version>
   <description>Package containing tools for dynamically loadable components</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,11 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+23.0.0 (2023-09-08)
+-------------------
+* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
+* Contributors: Christophe Bedard
+
 22.2.0 (2023-09-07)
 -------------------
 * add logger level service to lifecycle node. (`#2277 <https://github.com/ros2/rclcpp/issues/2277>`_)

rclcpp_lifecycle/README.md

@@ -2,7 +2,8 @@
 
 Package containing a prototype for lifecycle implementation.
 
-Visit the [rclcpp_lifecycle API documentation](http://docs.ros2.org/latest/api/rclcpp_lifecycle/) for a complete list of its main components and features. For more information about LifeCycle in ROS 2, see the [design document](http://design.ros2.org/articles/node_lifecycle.html).
+The link to the latest rclcpp_lifecycle API documentation, which includes a complete list of its main components and features, can be found on the rclcpp_lifecycle package info page, at the [ROS Index](https://index.ros.org/p/rclcpp_lifecycle/).
+For more information about LifeCycle in ROS 2, see the [design document](http://design.ros2.org/articles/node_lifecycle.html).
 
 ## Quality Declaration
 

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>22.2.0</version>
+  <version>23.0.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>