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Remove suspicious wait set locking code #119

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Remove suspicious wait set locking code #119

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d05fced
Remove suspicious wait set locking code
rotu Mar 20, 2020
5f0023a
If a waitset can't be immediately cleaned up, skip it instead of waiting
rotu Mar 20, 2020
deccdf7
use braces for constructor
rotu Mar 25, 2020
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22 changes: 4 additions & 18 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -207,7 +207,6 @@ struct CddsWaitset
size_t nelems;

std::mutex lock;
bool inuse;
std::vector<CddsSubscription *> subs;
std::vector<CddsGuardCondition *> gcs;
std::vector<CddsClient *> cls;
Expand Down Expand Up @@ -2078,7 +2077,6 @@ extern "C" rmw_wait_set_t * rmw_create_wait_set(rmw_context_t * context, size_t
RMW_SET_ERROR_MSG("failed to construct wait set info struct");
goto fail_ws;
}
ws->inuse = false;
ws->nelems = 0;
#if MULTIDOMAIN
owner = DDS_CYCLONEDDS_HANDLE;
Expand Down Expand Up @@ -2221,10 +2219,10 @@ static void clean_waitset_caches()
have been cached in a waitset), and drops all cached entities from all waitsets (just to keep
life simple). I'm assuming one is not allowed to delete an entity while it is still being
used ... */
std::lock_guard<std::mutex> lock(gcdds.lock);
std::lock_guard<std::mutex> lock{gcdds.lock};
for (auto && ws : gcdds.waitsets) {
std::lock_guard<std::mutex> lock(ws->lock);
if (!ws->inuse) {
std::unique_lock<std::mutex> lock2{ws->lock, std::try_to_lock};
if (lock2.owns_lock()) {
waitset_detach(ws);
}
}
Expand Down Expand Up @@ -2294,14 +2292,7 @@ extern "C" rmw_ret_t rmw_wait(
CddsWaitset * ws = static_cast<CddsWaitset *>(wait_set->data);
RET_NULL(ws);

{
std::lock_guard<std::mutex> lock(ws->lock);
if (ws->inuse) {
RMW_SET_ERROR_MSG("concurrent calls to rmw_wait on a single waitset is not supported");
return RMW_RET_ERROR;
}
ws->inuse = true;
}
std::lock_guard<std::mutex> lock(ws->lock);

if (require_reattach(
ws->subs, subs ? subs->subscriber_count : 0,
Expand Down Expand Up @@ -2405,11 +2396,6 @@ extern "C" rmw_ret_t rmw_wait(
}
#endif

{
std::lock_guard<std::mutex> lock(ws->lock);
ws->inuse = false;
}

return (ws->trigs.size() == 1) ? RMW_RET_TIMEOUT : RMW_RET_OK;
}

Expand Down