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[humble] Fix for possible freeze in Recorder::stop() (backport #1381) #1388

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Merged
MichaelOrlov merged 3 commits into from
Jun 28, 2023
Merged

[humble] Fix for possible freeze in Recorder::stop() (backport #1381) #1388

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32cc779
Fix for possible freeze in Recorder::stop() (#1381)
morlov-apexai Jun 10, 2023
7b15851
Resolve merge conflicts
morlov-apexai Jun 13, 2023
4348b22
Remove `in_recording_` variable for ABI compatibility
morlov-apexai Jun 18, 2023
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5 changes: 3 additions & 2 deletions rosbag2_transport/include/rosbag2_transport/recorder.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,7 @@ class Recorder : public rclcpp::Node
std::unordered_set<std::string> topic_unknown_types_;
rclcpp::Service<rosbag2_interfaces::srv::Snapshot>::SharedPtr srv_snapshot_;
std::atomic<bool> paused_ = false;

// Keyboard handler
std::shared_ptr<KeyboardHandler> keyboard_handler_;
// Toogle paused key callback handle
Expand All @@ -172,8 +173,8 @@ class Recorder : public rclcpp::Node

// Variables for event publishing
rclcpp::Publisher<rosbag2_interfaces::msg::WriteSplitEvent>::SharedPtr split_event_pub_;
bool event_publisher_thread_should_exit_ = false;
bool write_split_has_occurred_ = false;
std::atomic<bool> event_publisher_thread_should_exit_ = false;
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std::atomic<bool> write_split_has_occurred_ = false;
rosbag2_cpp::bag_events::BagSplitInfo bag_split_info_;
std::mutex event_publisher_thread_mutex_;
std::condition_variable event_publisher_thread_wake_cv_;
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18 changes: 10 additions & 8 deletions rosbag2_transport/src/rosbag2_transport/recorder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,13 @@ void Recorder::stop()
{
stop_discovery_ = true;
if (discovery_future_.valid()) {
discovery_future_.wait();
auto status = discovery_future_.wait_for(2 * record_options_.topic_polling_interval);
if (status != std::future_status::ready) {
RCLCPP_ERROR_STREAM(
get_logger(),
"discovery_future_.wait_for(" << record_options_.topic_polling_interval.count() <<
") return status: " << (status == std::future_status::timeout ? "timeout" : "deferred"));
}
}
paused_ = true;
subscriptions_.clear();
Expand All @@ -135,6 +141,7 @@ void Recorder::stop()
if (event_publisher_thread_.joinable()) {
event_publisher_thread_.join();
}
RCLCPP_INFO(get_logger(), "Recording stopped");
}

void Recorder::record()
Expand Down Expand Up @@ -190,15 +197,13 @@ void Recorder::record()
discovery_future_ =
std::async(std::launch::async, std::bind(&Recorder::topics_discovery, this));
}
RCLCPP_INFO(get_logger(), "Recording...");
}

void Recorder::event_publisher_thread_main()
{
RCLCPP_INFO(get_logger(), "Event publisher thread: Starting");

bool should_exit = false;

while (!should_exit) {
while (!event_publisher_thread_should_exit_.load()) {
std::unique_lock<std::mutex> lock(event_publisher_thread_mutex_);
event_publisher_thread_wake_cv_.wait(
lock,
Expand All @@ -222,10 +227,7 @@ void Recorder::event_publisher_thread_main()
"Failed to publish message on '/events/write_split' topic.");
}
}

should_exit = event_publisher_thread_should_exit_;
}

RCLCPP_INFO(get_logger(), "Event publisher thread: Exiting");
}

Expand Down