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Fix possible data race while calling has_ready_entities in EventsCBGExecutor #3288

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Fix possible data race while calling has_ready_entities in EventsCBGExecutor #3288

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22 changes: 14 additions & 8 deletions rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,9 +163,13 @@ CBGScheduler::ExecutableEntityWithInfo FirstInFirstOutScheduler::get_next_ready_
std::optional<FirstInFirstOutScheduler::ExecutableEntity> ret =
ready_cbg->get_next_ready_entity();

if (ready_cbg->get_type() == CallbackGroupType::Reentrant && ready_cbg->has_ready_entities()) {
ready_callback_groups.push_back(ready_cbg);
ready_cbg->in_queue = true;
if (ready_cbg->get_type() == CallbackGroupType::Reentrant) {
std::lock_guard lock(ready_cbg->get_ready_mutex());

if (ready_cbg->has_ready_entities()) {
ready_callback_groups.push_back(ready_cbg);
ready_cbg->in_queue = true;
}
}

if(ret) {
Expand Down Expand Up @@ -193,11 +197,13 @@ CBGScheduler::ExecutableEntityWithInfo FirstInFirstOutScheduler::get_next_ready_
ready_callback_groups.erase(it);
ready_cbg->in_queue = false;

if (
ready_cbg->get_type() == CallbackGroupType::Reentrant && ready_cbg->has_ready_entities())
{
ready_callback_groups.push_back(ready_cbg);
ready_cbg->in_queue = true;
if (ready_cbg->get_type() == CallbackGroupType::Reentrant) {
std::lock_guard lock(ready_cbg->get_ready_mutex());

if (ready_cbg->has_ready_entities()) {
ready_callback_groups.push_back(ready_cbg);
ready_cbg->in_queue = true;
}
}
return CBGScheduler::ExecutableEntityWithInfo{
.entity = std::move(ret), .moreEntitiesReady = !ready_callback_groups.empty()};
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5 changes: 5 additions & 0 deletions rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,11 @@ class CBGScheduler

bool is_ready();

std::mutex & get_ready_mutex()
{
return ready_mutex;
}

// true if this cbg is inside the scheduler's queue
bool in_queue = false;

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