Utilize rclcpp::WaitSet as part of the executors (#2142)

* Deprecate callback_group call taking context Signed-off-by: Michael Carroll <[email protected]> * Add base executor objects that can be used by implementors Signed-off-by: Michael Carroll <[email protected]> * Template common operations Signed-off-by: Michael Carroll <[email protected]> * Address reviewer feedback: * Add callback to EntitiesCollector constructor * Make function to check automatically added callback groups take a list Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Address reviewer feedback and fix templates Signed-off-by: Michael Carroll <[email protected]> * Lint and docs Signed-off-by: Michael Carroll <[email protected]> * Make executor own the notify waitable Signed-off-by: Michael Carroll <[email protected]> * Add pending queue to collector, remove from waitable Also change node's get_guard_condition to return shared_ptr Signed-off-by: Michael Carroll <[email protected]> * Change interrupt guard condition to shared_ptr Check if guard condition is valid before adding it to the waitable Signed-off-by: Michael Carroll <[email protected]> * Lint and docs Signed-off-by: Michael Carroll <[email protected]> * Utilize rclcpp::WaitSet as part of the executors Signed-off-by: Michael Carroll <[email protected]> * Don't exchange atomic twice Signed-off-by: Michael Carroll <[email protected]> * Fix add_node and add more tests Signed-off-by: Michael Carroll <[email protected]> * Make get_notify_guard_condition follow API tick-tock Signed-off-by: Michael Carroll <[email protected]> * Improve callback group tick-tocking Signed-off-by: Michael Carroll <[email protected]> * Don't lock twice Signed-off-by: Michael Carroll <[email protected]> * Address reviewer feedback Signed-off-by: Michael Carroll <[email protected]> * Add thread safety annotations and make locks consistent Signed-off-by: Michael Carroll <[email protected]> * @wip Signed-off-by: Michael Carroll <[email protected]> * Reset callback groups for multithreaded executor Signed-off-by: Michael Carroll <[email protected]> * Avoid many small function calls when building executables Signed-off-by: Michael Carroll <[email protected]> * Re-trigger guard condition if buffer has data Signed-off-by: Michael Carroll <[email protected]> * Address reviewer feedback Signed-off-by: Michael Carroll <[email protected]> * Trace points Signed-off-by: Michael Carroll <[email protected]> * Remove tracepoints Signed-off-by: Michael Carroll <[email protected]> * Reducing diff Signed-off-by: Michael Carroll <[email protected]> * Reduce diff Signed-off-by: Michael Carroll <[email protected]> * Uncrustify Signed-off-by: Michael Carroll <[email protected]> * Restore tests Signed-off-by: Michael Carroll <[email protected]> * Back to weak_ptr and reduce test time Signed-off-by: Michael Carroll <[email protected]> * reduce diff and lint Signed-off-by: Michael Carroll <[email protected]> * Restore static single threaded tests that weren't working before Signed-off-by: Michael Carroll <[email protected]> * Restore more tests Signed-off-by: Michael Carroll <[email protected]> * Fix multithreaded test Signed-off-by: Michael Carroll <[email protected]> * Fix assert Signed-off-by: Michael Carroll <[email protected]> * Fix constructor test Signed-off-by: Michael Carroll <[email protected]> * Change ready_executables signature back Signed-off-by: Michael Carroll <[email protected]> * Don't enforce removing callback groups before nodes Signed-off-by: Michael Carroll <[email protected]> * Remove the "add_valid_node" API Signed-off-by: Michael Carroll <[email protected]> * Only notify if the trigger condition is valid Signed-off-by: Michael Carroll <[email protected]> * Only trigger if valid and needed Signed-off-by: Michael Carroll <[email protected]> * Fix spin_some/spin_all implementation Signed-off-by: Michael Carroll <[email protected]> * Restore single threaded executor Signed-off-by: Michael Carroll <[email protected]> * Picking ABI-incompatible executor changes Signed-off-by: Michael Carroll <[email protected]> * Add PIMPL Signed-off-by: Michael Carroll <[email protected]> * Additional waitset prune Signed-off-by: Michael Carroll <[email protected]> * Fix bad merge Signed-off-by: Michael Carroll <[email protected]> * Expand test timeout Signed-off-by: Michael Carroll <[email protected]> * Introduce method to clear expired entities from a collection Signed-off-by: Michael Carroll <[email protected]> * Make sure to call remove_expired_entities(). Signed-off-by: Chris Lalancette <[email protected]> * Prune queued work when callback group is removed Signed-off-by: Michael Carroll <[email protected]> * Prune subscriptions from dynamic storage Signed-off-by: Michael Carroll <[email protected]> * Styles fixes. Signed-off-by: Chris Lalancette <[email protected]> * Re-trigger guard conditions Signed-off-by: Michael Carroll <[email protected]> * Condense to just use watiable.take_data Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Address reviewer comments (nits) Signed-off-by: Michael Carroll <[email protected]> * Lock mutex when copying Signed-off-by: Michael Carroll <[email protected]> * Refactors to static single threaded based on reviewers Signed-off-by: Michael Carroll <[email protected]> * More small refactoring Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Add ready executable accessors to WaitResult Signed-off-by: Michael Carroll <[email protected]> * Make use of accessors from wait_set Signed-off-by: Michael Carroll <[email protected]> * Fix tests Signed-off-by: Michael Carroll <[email protected]> * Fix more tests Signed-off-by: Michael Carroll <[email protected]> * Tidy up single threaded executor implementation Signed-off-by: Michael Carroll <[email protected]> * Don't null out timer, rely on call Signed-off-by: Michael Carroll <[email protected]> * change how timers are checked from wait result in executors Signed-off-by: William Woodall <[email protected]> * peak -> peek Signed-off-by: William Woodall <[email protected]> * fix bug in next_waitable logic Signed-off-by: William Woodall <[email protected]> * fix bug in StaticSTE that broke the add callback groups to executor tests Signed-off-by: William Woodall <[email protected]> * style Signed-off-by: William Woodall <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: William Woodall <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> Co-authored-by: William Woodall <[email protected]>
ros2 · Mar 29, 2024 · 5632a09 · 5632a09
1 parent 9d5aaf5
commit 5632a09
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Showing 32 changed files with 975 additions and 2,061 deletions.
diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
@@ -69,7 +69,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executors/executor_notify_waitable.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
-  src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
   src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/experimental/executors/events_executor/events_executor.cpp

diff --git a/rclcpp/include/rclcpp/any_executable.hpp b/rclcpp/include/rclcpp/any_executable.hpp
@@ -45,9 +45,9 @@ struct AnyExecutable
   rclcpp::ClientBase::SharedPtr client;
   rclcpp::Waitable::SharedPtr waitable;
   // These are used to keep the scope on the containing items
-  rclcpp::CallbackGroup::SharedPtr callback_group;
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
-  std::shared_ptr<void> data;
+  rclcpp::CallbackGroup::SharedPtr callback_group {nullptr};
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base {nullptr};
+  std::shared_ptr<void> data {nullptr};
 };
 
 }  // namespace rclcpp

diff --git a/rclcpp/include/rclcpp/callback_group.hpp b/rclcpp/include/rclcpp/callback_group.hpp
@@ -184,18 +184,41 @@ class CallbackGroup
    * \return the number of entities in the callback group.
    */
   RCLCPP_PUBLIC
-  size_t size() const;
+  size_t
+  size() const;
 
+  /// Return a reference to the 'can be taken' atomic boolean.
+  /**
+   * The resulting bool will be true in the case that no executor is currently
+   * using an executable entity from this group.
+   * The resulting bool will be false in the case that an executor is currently
+   * using an executable entity from this group, and the group policy doesn't
+   * allow a second take (eg mutual exclusion)
+   * \return a reference to the flag
+   */
   RCLCPP_PUBLIC
   std::atomic_bool &
   can_be_taken_from();
 
+  /// Get the group type.
+  /**
+   * \return the group type
+   */
   RCLCPP_PUBLIC
   const CallbackGroupType &
   type() const;
 
+  /// Collect all of the entity pointers contained in this callback group.
+  /**
+   * \param[in] sub_func Function to execute for each subscription
+   * \param[in] service_func Function to execute for each service
+   * \param[in] client_func Function to execute for each client
+   * \param[in] timer_func Function to execute for each timer
+   * \param[in] waitable_fuinc Function to execute for each waitable
+   */
   RCLCPP_PUBLIC
-  void collect_all_ptrs(
+  void
+  collect_all_ptrs(
     std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
     std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
     std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
@@ -29,26 +29,24 @@
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
+#include "rclcpp/executors/executor_notify_waitable.hpp"
 #include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors/executor_entities_collection.hpp"
+#include "rclcpp/executors/executor_entities_collector.hpp"
 #include "rclcpp/future_return_code.hpp"
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/wait_set.hpp"
 
 namespace rclcpp
 {
 
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
 // Forward declaration is used in convenience method signature.
 class Node;
 class ExecutorImplementation;
@@ -425,17 +423,6 @@ class Executor
   void
   cancel();
 
-  /// Support dynamic switching of the memory strategy.
-  /**
-   * Switching the memory strategy while the executor is spinning in another threading could have
-   * unintended consequences.
-   * \param[in] memory_strategy Shared pointer to the memory strategy to set.
-   * \throws std::runtime_error if memory_strategy is null
-   */
-  RCLCPP_PUBLIC
-  void
-  set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
-
   /// Returns true if the executor is currently spinning.
   /**
    * This function can be called asynchronously from any thread.
@@ -520,6 +507,11 @@ class Executor
   static void
   execute_client(rclcpp::ClientBase::SharedPtr client);
 
+  /// Gather all of the waitable entities from associated nodes and callback groups.
+  RCLCPP_PUBLIC
+  void
+  collect_entities();
+
   /// Block until more work becomes avilable or timeout is reached.
   /**
    * Builds a set of waitable entities, which are passed to the middleware.
@@ -531,62 +523,6 @@ class Executor
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Find node associated with a callback group
-  /**
-   * \param[in] weak_groups_to_nodes map of callback groups to nodes
-   * \param[in] group callback group to find assocatiated node
-   * \return Pointer to associated node if found, else nullptr
-   */
-  RCLCPP_PUBLIC
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  /// Return true if the node has been added to this executor.
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] weak_groups_to_nodes map to nodes to lookup
-   * \return true if the node is associated with the executor, otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Find the callback group associated with a timer
-  /**
-   * \param[in] timer Timer to find associated callback group
-   * \return Pointer to callback group node if found, else nullptr
-   */
-  RCLCPP_PUBLIC
-  rclcpp::CallbackGroup::SharedPtr
-  get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
-
-  /// Add a callback group to an executor
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group_to_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
   /// Check for executable in ready state and populate union structure.
   /**
    * \param[out] any_executable populated union structure of ready executable
@@ -597,33 +533,6 @@ class Executor
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  /// Check for executable in ready state and populate union structure.
-  /**
-   * This is the implementation of get_next_ready_executable that takes into
-   * account the current state of callback groups' association with nodes and
-   * executors.
-   *
-   * This checks in a particular order for available work:
-   *   * Timers
-   *   * Subscriptions
-   *   * Services
-   *   * Clients
-   *   * Waitable
-   *
-   * If the next executable is not associated with this executor/node pair,
-   * then this method will return false.
-   *
-   * \param[out] any_executable populated union structure of ready executable
-   * \param[in] weak_groups_to_nodes mapping of callback groups to nodes
-   * \return true if an executable was ready and any_executable was populated,
-   *   otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  get_next_ready_executable_from_map(
-    AnyExecutable & any_executable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
   /// Wait for executable in ready state and populate union structure.
   /**
    * If an executable is ready, it will return immediately, otherwise
@@ -641,21 +550,6 @@ class Executor
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Add all callback groups that can be automatically added from associated nodes.
-  /**
-   * The executor, before collecting entities, verifies if any callback group from
-   * nodes associated with the executor, which is not already associated to an executor,
-   * can be automatically added to this executor.
-   * This takes care of any callback group that has been added to a node but not explicitly added
-   * to the executor.
-   * It is important to note that in order for the callback groups to be automatically added to an
-   * executor through this function, the node of the callback groups needs to have been added
-   * through the `add_node` method.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_groups_from_nodes_associated_to_executor() RCPPUTILS_TSA_REQUIRES(mutex_);
-
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
@@ -665,16 +559,8 @@ class Executor
   /// Guard condition for signaling the rmw layer to wake up for system shutdown.
   std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
 
-  /// 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_.
   mutable std::mutex mutex_;
 
-  /// The memory strategy: an interface for handling user-defined memory allocation strategies.
-  memory_strategy::MemoryStrategy::SharedPtr
-  memory_strategy_ RCPPUTILS_TSA_PT_GUARDED_BY(mutex_);
-
   /// The context associated with this executor.
   std::shared_ptr<rclcpp::Context> context_;
 
@@ -684,39 +570,31 @@ class Executor
   virtual void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
-  typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>
-    WeakCallbackGroupsToGuardConditionsMap;
-
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Waitable containing guard conditions controlling the executor flow.
+  /**
+   * This waitable contains the interrupt and shutdown guard condition, as well
+   * as the guard condition associated with each node and callback group.
+   * By default, if any change is detected in the monitored entities, the notify
+   * waitable will awake the executor and rebuild the collections.
+   */
+  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
 
-  /// maps callback groups to guard conditions
-  WeakCallbackGroupsToGuardConditionsMap
-  weak_groups_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  std::atomic_bool entities_need_rebuild_;
 
-  /// maps callback groups associated to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_associated_with_executor_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Collector used to associate executable entities from nodes and guard conditions
+  rclcpp::executors::ExecutorEntitiesCollector collector_;
 
-  /// maps callback groups to nodes associated with executor
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_associated_with_executor_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// WaitSet to be waited on.
+  rclcpp::WaitSet wait_set_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>> wait_result_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
-  /// maps all callback groups to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Hold the current state of the collection being waited on by the waitset
+  rclcpp::executors::ExecutorEntitiesCollection current_collection_ RCPPUTILS_TSA_GUARDED_BY(
+    mutex_);
 
-  /// nodes that are associated with the executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
-  weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Hold the current state of the notify waitable being waited on by the waitset
+  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> current_notify_waitable_
+  RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
   /// shutdown callback handle registered to Context
   rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;

diff --git a/rclcpp/include/rclcpp/executors/executor_entities_collection.hpp b/rclcpp/include/rclcpp/executors/executor_entities_collection.hpp
@@ -178,6 +178,12 @@ struct ExecutorEntitiesCollection
 
   /// Clear the entities collection
   void clear();
+
+  /// Remove entities that have expired weak ownership
+  /**
+   * \return The total number of removed entities
+   */
+  size_t remove_expired_entities();
 };
 
 /// Build an entities collection from callback groups

diff --git a/rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp b/rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp
@@ -48,11 +48,11 @@ class ExecutorNotifyWaitable : public rclcpp::Waitable
   ~ExecutorNotifyWaitable() override = default;
 
   RCLCPP_PUBLIC
-  ExecutorNotifyWaitable(const ExecutorNotifyWaitable & other);
+  ExecutorNotifyWaitable(ExecutorNotifyWaitable & other);
 
 
   RCLCPP_PUBLIC
-  ExecutorNotifyWaitable & operator=(const ExecutorNotifyWaitable & other);
+  ExecutorNotifyWaitable & operator=(ExecutorNotifyWaitable & other);
 
   /// Add conditions to the wait set
   /**