changed type

Signed-off-by: Pedro Pena <peter.a.pena@gmail.com>

rclcpp/CHANGELOG.rst

@@ -2,26 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-4.0.0 (2020-07-09)
-------------------
-* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
-* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_)
-* Unit tests for node interfaces (`#1202 <https://github.com/ros2/rclcpp/issues/1202>`_)
-* Remove usage of domain id in node options (`#1205 <https://github.com/ros2/rclcpp/issues/1205>`_)
-* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
-* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_)
-* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_)
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Fix pub/sub count API tests (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_)
-* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
-* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_)
-* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
-* Unit tests for some header-only functions/classes (`#1181 <https://github.com/ros2/rclcpp/issues/1181>`_)
-* Callback should be perfectly-forwarded (`#1183 <https://github.com/ros2/rclcpp/issues/1183>`_)
-* Add unit tests for logging functionality (`#1184 <https://github.com/ros2/rclcpp/issues/1184>`_)
-* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya
-
 3.0.0 (2020-06-18)
 ------------------
 * Check period duration in create_wall_timer (`#1178 <https://github.com/ros2/rclcpp/issues/1178>`_)

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -82,6 +82,7 @@ private:
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
 
   std::mutex wait_mutex_;
+  std::mutex scheduled_timers_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
   std::chrono::nanoseconds next_exec_timeout_;

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>4.0.0</version>
+  <version>3.0.0</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/executors/multi_threaded_executor.cpp

@@ -83,19 +83,22 @@ MultiThreadedExecutor::run(size_t)
       if (!get_next_executable(any_exec, next_exec_timeout_)) {
         continue;
       }
-      if (any_exec.timer) {
-        // Guard against multiple threads getting the same timer.
-        if (scheduled_timers_.count(any_exec.timer) != 0) {
-          // Make sure that any_exec's callback group is reset before
-          // the lock is released.
-          if (any_exec.callback_group) {
-            any_exec.callback_group->can_be_taken_from().store(true);
-          }
-          continue;
-        }
-        scheduled_timers_.insert(any_exec.timer);
-      }
     }
+
+    if (any_exec.timer) {
+      std::lock_guard<std::mutex> wait_lock(scheduled_timers_mutex_);
+      // Guard against multiple threads getting the same timer.
+      if (scheduled_timers_.count(any_exec.timer) != 0) {
+        // Make sure that any_exec's callback group is reset before
+        // the lock is released.
+        if (any_exec.callback_group) {
+          any_exec.callback_group->can_be_taken_from().store(true);
+        }
+        continue;
+      }
+      scheduled_timers_.insert(any_exec.timer);
+    }
+
     if (yield_before_execute_) {
       std::this_thread::yield();
     }
@@ -103,7 +106,7 @@ MultiThreadedExecutor::run(size_t)
     execute_any_executable(any_exec);
 
     if (any_exec.timer) {
-      std::lock_guard<std::mutex> wait_lock(wait_mutex_);
+      std::lock_guard<std::mutex> wait_lock(scheduled_timers_mutex_);
       auto it = scheduled_timers_.find(any_exec.timer);
       if (it != scheduled_timers_.end()) {
         scheduled_timers_.erase(it);

rclcpp/test/CMakeLists.txt

@@ -464,6 +464,12 @@ if(TARGET test_guard_condition)
   target_link_libraries(test_guard_condition ${PROJECT_NAME})
 endif()
 
+ament_add_gtest(test_timer_count rclcpp/test_timer_call_count.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_timer_count)
+  target_link_libraries(test_timer_count ${PROJECT_NAME})
+endif()
+
 ament_add_gtest(test_wait_set rclcpp/test_wait_set.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_wait_set)

rclcpp/test/rclcpp/test_timer_call_count.cpp

@@ -0,0 +1,116 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/executor.hpp"
+
+using namespace std::chrono_literals;
+
+class TestTimerCount : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+};
+
+constexpr int EXECUTION_COUNT = 5;
+constexpr rcl_duration_value_t TIME_ELAPSED = 12;
+/*
+   Test timer wait mutex with multithreaded executor.
+   After 5 call
+ */
+
+TEST_F(TestTimerCount, timer_call_count_multi_threaded) {
+  rclcpp::executors::MultiThreadedExecutor executor;
+
+  std::shared_ptr<rclcpp::Node> node =
+    std::make_shared<rclcpp::Node>("timer_call_count_multi_threaded");
+
+  auto cbg = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+
+  rclcpp::Clock system_clock(RCL_STEADY_TIME);
+  std::mutex last_mutex;
+  rclcpp::Time initial = system_clock.now();
+
+  std::atomic_int timer_count {0};
+
+  auto timer_callback = [&timer_count, &executor, &system_clock, &last_mutex, &initial]() {
+      rclcpp::Time now = system_clock.now();
+      timer_count++;
+
+      {
+        std::lock_guard<std::mutex> lock(last_mutex);
+        rcl_duration_value_t diff = (now - initial).nanoseconds() / (rcl_duration_value_t)1.0e9;
+
+        if (diff > TIME_ELAPSED) {
+          executor.cancel();
+          ASSERT_GT(timer_count, EXECUTION_COUNT);
+        }
+      }
+    };
+
+  auto timer_ = node->create_wall_timer(
+    2s, timer_callback, cbg);
+
+  executor.add_node(node);
+  executor.spin();
+}
+
+/*
+   Test timer wait mutex with singlethreaded executor
+ */
+TEST_F(TestTimerCount, timer_call_count_single_threaded) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  std::shared_ptr<rclcpp::Node> node =
+    std::make_shared<rclcpp::Node>("timer_call_count_single_threaded");
+
+  rclcpp::Clock system_clock(RCL_STEADY_TIME);
+  std::mutex last_mutex;
+  rclcpp::Time initial = system_clock.now();
+
+  std::atomic_int timer_count {0};
+
+  auto timer_callback = [&timer_count, &executor, &system_clock, &last_mutex, &initial]() {
+      rclcpp::Time now = system_clock.now();
+      timer_count++;
+
+      {
+        std::lock_guard<std::mutex> lock(last_mutex);
+        rcl_duration_value_t diff = (now - initial).nanoseconds() / (rcl_duration_value_t)1.0e9;
+
+        if (diff > TIME_ELAPSED) {
+          executor.cancel();
+          ASSERT_GT(timer_count, EXECUTION_COUNT);
+        }
+      }
+    };
+
+  auto timer_ = node->create_wall_timer(
+    2s, timer_callback);
+
+  executor.add_node(node);
+  executor.spin();
+}

rclcpp_action/CHANGELOG.rst

@@ -3,11 +3,6 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-4.0.0 (2020-07-09)
-------------------
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Contributors: Alejandro Hernández Cordero
-
 3.0.0 (2020-06-18)
 ------------------
 * Add rcl_action_client_options when creating action client. (`#1133 <https://github.com/ros2/rclcpp/issues/1133>`_)

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>4.0.0</version>
+  <version>3.0.0</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

@@ -2,12 +2,6 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-4.0.0 (2020-07-09)
-------------------
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Include original exception in ComponentManagerException (`#1157 <https://github.com/ros2/rclcpp/issues/1157>`_)
-* Contributors: Alejandro Hernández Cordero, Martijn Buijs, tomoya
-
 3.0.0 (2020-06-18)
 ------------------
 

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>4.0.0</version>
+  <version>3.0.0</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

@@ -3,13 +3,6 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-4.0.0 (2020-07-09)
-------------------
-* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Fix race in test_lifecycle_service_client (`#1204 <https://github.com/ros2/rclcpp/issues/1204>`_)
-* Contributors: Alejandro Hernández Cordero, Claire Wang, Dirk Thomas
-
 3.0.0 (2020-06-18)
 ------------------
 * Fix doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_)

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>4.0.0</version>
+  <version>3.0.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>