Callback after cancel (#2281)

* feat(Client): Added function to stop callbacks of a goal handle

This function allows us to drop the handle in a locked context.
If we do not do this within a lock, there will be a race condition between
the deletion of the shared_ptr of the handle and the result / feedback
callbacks.

* fix: make Client goal handle recursive

This fixes deadlocks due to release of goal handles in callbacks etc.

* fix(ActionGoalClient): Fixed memory leak for nominal case

This fixes a memory leak due to a self reference in the ClientGoalHandle.
Note, this fix will only work, if the ClientGoalHandle ever receives
a result callback.

* doc: Updated documentation of rclcpp_action::Client::async_send_goal
* docs: Made the async_send_goal documentation more explicit

Signed-off-by: Janosch Machowinski <[email protected]>
Co-authored-by: Janosch Machowinski <[email protected]>

rclcpp_action/include/rclcpp_action/client.hpp

@@ -405,12 +405,22 @@ class Client : public ClientBase
 
   /// Send an action goal and asynchronously get the result.
   /**
-   * If the goal is accepted by an action server, the returned future is set to a `ClientGoalHandle`.
+   * If the goal is accepted by an action server, the returned future is set to a `GoalHandle::SharedPtr`.
    * If the goal is rejected by an action server, then the future is set to a `nullptr`.
    *
-   * The returned goal handle is used to monitor the status of the goal and get the final result.
-   * It is valid as long as you hold a reference to the shared pointer or until the
-   * rclcpp_action::Client is destroyed at which point the goal status will become UNKNOWN.
+   * The goal handle in the future is used to monitor the status of the goal and get the final result.
+   *
+   * If callbacks were set in @param options, you will receive callbacks, as long as you hold a reference
+   * to the shared pointer contained in the returned future, or rclcpp_action::Client is destroyed. Dropping
+   * the shared pointer to the goal handle will not cancel the goal. In order to cancel it, you must explicitly
+   * call async_cancel_goal.
+   *
+   * WARNING this method has inconsistent behaviour and a memory leak bug.
+   * If you set the result callback in @param options, the handle will be self referencing, and you will receive
+   * callbacks even though you do not hold a reference to the shared pointer. In this case, the self reference will
+   * be deleted if the result callback was received. If there is no result callback, there will be a memory leak.
+   *
+   * To prevent the memory leak, you may call stop_callbacks() explicit. This will delete the self reference.
    *
    * \param[in] goal The goal request.
    * \param[in] options Options for sending the goal request. Contains references to callbacks for
@@ -448,7 +458,7 @@ class Client : public ClientBase
         std::shared_ptr<GoalHandle> goal_handle(
           new GoalHandle(goal_info, options.feedback_callback, options.result_callback));
         {
-          std::lock_guard<std::mutex> guard(goal_handles_mutex_);
+          std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
           goal_handles_[goal_handle->get_goal_id()] = goal_handle;
         }
         promise->set_value(goal_handle);
@@ -466,7 +476,7 @@ class Client : public ClientBase
     // To prevent the list from growing out of control, forget about any goals
     // with no more user references
     {
-      std::lock_guard<std::mutex> guard(goal_handles_mutex_);
+      std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
       auto goal_handle_it = goal_handles_.begin();
       while (goal_handle_it != goal_handles_.end()) {
         if (!goal_handle_it->second.lock()) {
@@ -496,7 +506,7 @@ class Client : public ClientBase
     typename GoalHandle::SharedPtr goal_handle,
     ResultCallback result_callback = nullptr)
   {
-    std::lock_guard<std::mutex> lock(goal_handles_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(goal_handles_mutex_);
     if (goal_handles_.count(goal_handle->get_goal_id()) == 0) {
       throw exceptions::UnknownGoalHandleError();
     }
@@ -531,7 +541,7 @@ class Client : public ClientBase
     typename GoalHandle::SharedPtr goal_handle,
     CancelCallback cancel_callback = nullptr)
   {
-    std::lock_guard<std::mutex> lock(goal_handles_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(goal_handles_mutex_);
     if (goal_handles_.count(goal_handle->get_goal_id()) == 0) {
       throw exceptions::UnknownGoalHandleError();
     }
@@ -562,6 +572,63 @@ class Client : public ClientBase
     return async_cancel(cancel_request, cancel_callback);
   }
 
+  /// Stops the callbacks for the goal in a thread safe way
+  /**
+   * This will NOT cancel the goal, it will only stop the callbacks.
+   *
+   * After the call to this function, it is guaranteed that there
+   * will be no more callbacks from the goal. This is not guaranteed
+   * if multiple threads are involved, and the goal_handle is just
+   * dropped.
+   *
+   * \param[in] goal_handle The goal were the callbacks shall be stopped
+   */
+  void stop_callbacks(typename GoalHandle::SharedPtr goal_handle)
+  {
+    goal_handle->set_feedback_callback(typename GoalHandle::FeedbackCallback());
+    goal_handle->set_result_callback(typename GoalHandle::ResultCallback());
+
+    std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
+    const GoalUUID & goal_id = goal_handle->get_goal_id();
+    auto it = goal_handles_.find(goal_id);
+    if (goal_handles_.end() == it) {
+      // someone else already deleted the entry
+      // e.g. the result callback
+      RCLCPP_DEBUG(
+        this->get_logger(),
+        "Given goal is unknown. Ignoring...");
+      return;
+    }
+    goal_handles_.erase(it);
+  }
+
+  /// Stops the callbacks for the goal in a thread safe way
+  /**
+   * For futher information see stop_callbacks(typename GoalHandle::SharedPtr goal_handle)
+   */
+  void stop_callbacks(const GoalUUID & goal_id)
+  {
+    typename GoalHandle::SharedPtr goal_handle;
+    {
+      std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
+      auto it = goal_handles_.find(goal_id);
+      if (goal_handles_.end() == it) {
+        // someone else already deleted the entry
+        // e.g. the result callback
+        RCLCPP_DEBUG(
+          this->get_logger(),
+          "Given goal is unknown. Ignoring...");
+        return;
+      }
+
+      goal_handle = it->lock();
+    }
+
+    if (goal_handle) {
+      stop_callbacks(goal_handle);
+    }
+  }
+
   /// Asynchronously request all goals at or before a specified time be canceled.
   /**
    * \param[in] stamp The timestamp for the cancel goal request.
@@ -590,7 +657,7 @@ class Client : public ClientBase
   virtual
   ~Client()
   {
-    std::lock_guard<std::mutex> guard(goal_handles_mutex_);
+    std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
     auto it = goal_handles_.begin();
     while (it != goal_handles_.end()) {
       typename GoalHandle::SharedPtr goal_handle = it->second.lock();
@@ -637,7 +704,7 @@ class Client : public ClientBase
   void
   handle_feedback_message(std::shared_ptr<void> message) override
   {
-    std::lock_guard<std::mutex> guard(goal_handles_mutex_);
+    std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
     using FeedbackMessage = typename ActionT::Impl::FeedbackMessage;
     typename FeedbackMessage::SharedPtr feedback_message =
       std::static_pointer_cast<FeedbackMessage>(message);
@@ -674,7 +741,7 @@ class Client : public ClientBase
   void
   handle_status_message(std::shared_ptr<void> message) override
   {
-    std::lock_guard<std::mutex> guard(goal_handles_mutex_);
+    std::lock_guard<std::recursive_mutex> guard(goal_handles_mutex_);
     using GoalStatusMessage = typename ActionT::Impl::GoalStatusMessage;
     auto status_message = std::static_pointer_cast<GoalStatusMessage>(message);
     for (const GoalStatus & status : status_message->status_list) {
@@ -723,7 +790,7 @@ class Client : public ClientBase
           wrapped_result.goal_id = goal_handle->get_goal_id();
           wrapped_result.code = static_cast<ResultCode>(result_response->status);
           goal_handle->set_result(wrapped_result);
-          std::lock_guard<std::mutex> lock(goal_handles_mutex_);
+          std::lock_guard<std::recursive_mutex> lock(goal_handles_mutex_);
           goal_handles_.erase(goal_handle->get_goal_id());
         });
     } catch (rclcpp::exceptions::RCLError & ex) {
@@ -755,7 +822,7 @@ class Client : public ClientBase
   }
 
   std::map<GoalUUID, typename GoalHandle::WeakPtr> goal_handles_;
-  std::mutex goal_handles_mutex_;
+  std::recursive_mutex goal_handles_mutex_;
 };
 }  // namespace rclcpp_action
 

rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp

@@ -75,6 +75,7 @@ ClientGoalHandle<ActionT>::set_result(const WrappedResult & wrapped_result)
   result_promise_.set_value(wrapped_result);
   if (result_callback_) {
     result_callback_(wrapped_result);
+    result_callback_ = ResultCallback();
   }
 }