Multithread improvements (backport #205)

.github/workflows/ci.yml

@@ -21,8 +21,8 @@ jobs:
 
         - name: Download dependencies
           run: |
-            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR
-            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
+            git clone -b ros2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
+            git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
             git clone -b main https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
             git clone -b master https://github.com/ros2/rmw src/rmw
             touch src/rosidl_typesupport_microxrcedds/test/COLCON_IGNORE

rmw_microxrcedds_c/include/rmw_microros/ping.h

@@ -43,6 +43,7 @@ extern "C"
  * \brief Check if micro-ROS Agent is up and running.
  *        This function can be called even when the micro-ROS context has not yet been
  *        initialized by the application logics.
+ *        This function cannot be called concurrently with `rmw_init()` or `rmw_shutdown()`.
  * \param[in] timeout_ms Timeout in ms (per attempt).
  * \param[in] attempts Number of tries before considering the ping as failed.
  * \return RMW_RET_OK If micro-ROS Agent is available.
@@ -56,6 +57,7 @@ rmw_ret_t rmw_uros_ping_agent(
  * \brief Check if micro-ROS Agent is up and running using the transport set on the given rmw options.
  *        This function can be called even when the micro-ROS context has not yet been initialized.
  *        The transport will be initialized and closed once during the ping process.
+ *        This function cannot be called concurrently with `rmw_init()` or `rmw_shutdown()`.
  * \param[in] timeout_ms Timeout in ms (per attempt).
  * \param[in] attempts Number of tries before considering the ping as failed.
  * \param[in] rmw_options rmw options with populated transport parameters.

rmw_microxrcedds_c/src/callbacks.c

@@ -70,10 +70,13 @@ void on_topic(
     if ((custom_subscription->datareader_id.id == object_id.id) &&
       (custom_subscription->datareader_id.type == object_id.type))
     {
+      UXR_LOCK(&static_buffer_memory.mutex);
+
       rmw_uxrce_mempool_item_t * memory_node = rmw_uxrce_get_static_input_buffer_for_entity(
         custom_subscription, custom_subscription->qos);
       if (!memory_node) {
         RMW_SET_ERROR_MSG("Not available static buffer memory node");
+        UXR_UNLOCK(&static_buffer_memory.mutex);
         return;
       }
 
@@ -86,14 +89,14 @@ void on_topic(
           length))
       {
         put_memory(&static_buffer_memory, memory_node);
-        return;
+      } else {
+        static_buffer->owner = (void *) custom_subscription;
+        static_buffer->length = length;
+        static_buffer->timestamp = rmw_uros_epoch_nanos();
+        static_buffer->entity_type = RMW_UXRCE_ENTITY_TYPE_SUBSCRIPTION;
       }
 
-      static_buffer->owner = (void *) custom_subscription;
-      static_buffer->length = length;
-      static_buffer->timestamp = rmw_uros_epoch_nanos();
-      static_buffer->entity_type = RMW_UXRCE_ENTITY_TYPE_SUBSCRIPTION;
-
+      UXR_UNLOCK(&static_buffer_memory.mutex);
       return;
     }
     subscription_item = subscription_item->next;
@@ -119,10 +122,13 @@ void on_request(
     // Check if request is related to the service
     rmw_uxrce_service_t * custom_service = (rmw_uxrce_service_t *)service_item->data;
     if (custom_service->service_data_resquest == request_id) {
+      UXR_LOCK(&static_buffer_memory.mutex);
+
       rmw_uxrce_mempool_item_t * memory_node = rmw_uxrce_get_static_input_buffer_for_entity(
         custom_service, custom_service->qos);
       if (!memory_node) {
         RMW_SET_ERROR_MSG("Not available static buffer memory node");
+        UXR_UNLOCK(&static_buffer_memory.mutex);
         return;
       }
 
@@ -135,14 +141,15 @@ void on_request(
           length))
       {
         put_memory(&static_buffer_memory, memory_node);
-        return;
+      } else {
+        static_buffer->owner = (void *) custom_service;
+        static_buffer->length = length;
+        static_buffer->related.sample_id = *sample_id;
+        static_buffer->timestamp = rmw_uros_epoch_nanos();
+        static_buffer->entity_type = RMW_UXRCE_ENTITY_TYPE_SERVICE;
       }
 
-      static_buffer->owner = (void *) custom_service;
-      static_buffer->length = length;
-      static_buffer->related.sample_id = *sample_id;
-      static_buffer->timestamp = rmw_uros_epoch_nanos();
-      static_buffer->entity_type = RMW_UXRCE_ENTITY_TYPE_SERVICE;
+      UXR_UNLOCK(&static_buffer_memory.mutex);
 
       return;
     }
@@ -169,10 +176,13 @@ void on_reply(
     // Check if reply is related to the client
     rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)client_item->data;
     if (custom_client->client_data_request == request_id) {
+      UXR_LOCK(&static_buffer_memory.mutex);
+
       rmw_uxrce_mempool_item_t * memory_node = rmw_uxrce_get_static_input_buffer_for_entity(
         custom_client, custom_client->qos);
       if (!memory_node) {
         RMW_SET_ERROR_MSG("Not available static buffer memory node");
+        UXR_UNLOCK(&static_buffer_memory.mutex);
         return;
       }
 
@@ -185,14 +195,14 @@ void on_reply(
           length))
       {
         put_memory(&static_buffer_memory, memory_node);
-        return;
+      } else {
+        static_buffer->owner = (void *) custom_client;
+        static_buffer->length = length;
+        static_buffer->related.reply_id = reply_id;
+        static_buffer->timestamp = rmw_uros_epoch_nanos();
+        static_buffer->entity_type = RMW_UXRCE_ENTITY_TYPE_CLIENT;
       }
-
-      static_buffer->owner = (void *) custom_client;
-      static_buffer->length = length;
-      static_buffer->related.reply_id = reply_id;
-      static_buffer->timestamp = rmw_uros_epoch_nanos();
-      static_buffer->entity_type = RMW_UXRCE_ENTITY_TYPE_CLIENT;
+      UXR_UNLOCK(&static_buffer_memory.mutex);
 
       return;
     }

rmw_microxrcedds_c/src/rmw_init.c

@@ -204,6 +204,13 @@ rmw_init(
   context->implementation_identifier = eprosima_microxrcedds_identifier;
   context->actual_domain_id = options->domain_id;
 
+#ifdef UCLIENT_PROFILE_MULTITHREAD
+  if (!rmw_uxrce_wait_mutex_initialized) {
+    UXR_INIT_LOCK(&rmw_uxrce_wait_mutex);
+    rmw_uxrce_wait_mutex_initialized = true;
+  }
+#endif  // UCLIENT_PROFILE_MULTITHREAD
+
   rmw_uxrce_init_session_memory(&session_memory, custom_sessions, RMW_UXRCE_MAX_SESSIONS);
   rmw_uxrce_init_static_input_buffer_memory(
     &static_buffer_memory, custom_static_buffers,

rmw_microxrcedds_c/src/rmw_microros/ping.c

@@ -33,9 +33,8 @@ rmw_ret_t rmw_uros_ping_agent(
 {
   bool success = false;
 
-  UXR_LOCK(&session_memory.mutex);
-
-  if (NULL == session_memory.allocateditems) {
+  if (!session_memory.is_initialized || NULL == session_memory.allocateditems) {
+    // There is no session available to ping. Init transport is required.
 #ifdef RMW_UXRCE_TRANSPORT_SERIAL
     uxrSerialTransport transport;
 #elif defined(RMW_UXRCE_TRANSPORT_UDP)
@@ -54,24 +53,23 @@ rmw_ret_t rmw_uros_ping_agent(
     rmw_ret_t ret = rmw_uxrce_transport_init(NULL, NULL, (void *)&transport);
 
     if (RMW_RET_OK != ret) {
-      UXR_UNLOCK(&session_memory.mutex);
       return ret;
     }
 
     success = uxr_ping_agent_attempts(&transport.comm, timeout_ms, attempts);
     CLOSE_TRANSPORT(&transport);
   } else {
+    // There is a session available to ping. Using session.
     rmw_uxrce_mempool_item_t * item = session_memory.allocateditems;
     do {
       rmw_context_impl_t * context = (rmw_context_impl_t *)item->data;
 
-      success = uxr_ping_agent_attempts(&context->transport.comm, timeout_ms, attempts);
+      success = uxr_ping_agent_session(&context->session, timeout_ms, attempts);
+
       item = item->next;
     } while (NULL != item && !success);
   }
 
-  UXR_UNLOCK(&session_memory.mutex);
-
   return success ? RMW_RET_OK : RMW_RET_ERROR;
 }
 

rmw_microxrcedds_c/src/rmw_microros_internal/memory.h

@@ -39,7 +39,7 @@ typedef struct rmw_uxrce_mempool_t
 
 #ifdef UCLIENT_PROFILE_MULTITHREAD
   uxrMutex mutex;
-#endif  // RMW_MICROROS_INTERNAL__UCLIENT_PROFILE_MULTITHREAD
+#endif  // UCLIENT_PROFILE_MULTITHREAD
 } rmw_uxrce_mempool_t;
 
 bool has_memory(

rmw_microxrcedds_c/src/rmw_microros_internal/types.h

@@ -294,6 +294,14 @@ extern rmw_uxrce_wait_set_t custom_wait_set[RMW_UXRCE_MAX_WAIT_SETS];
 extern rmw_uxrce_mempool_t guard_condition_memory;
 extern rmw_uxrce_guard_condition_t custom_guard_condition[RMW_UXRCE_MAX_GUARD_CONDITION];
 
+// Global mutexs
+#ifdef UCLIENT_PROFILE_MULTITHREAD
+// This mutex protects `need_to_be_ran` member of `session_memory` elements
+// between concurrent calls to `rmw_wait()`
+extern uxrMutex rmw_uxrce_wait_mutex;
+extern bool rmw_uxrce_wait_mutex_initialized;
+#endif  // UCLIENT_PROFILE_MULTITHREAD
+
 // Memory init functions
 
 #define RMW_INIT_DEFINE_MEMORY(X) \

rmw_microxrcedds_c/src/rmw_request.c

@@ -83,10 +83,13 @@ rmw_take_request(
 
   rmw_uxrce_clean_expired_static_input_buffer();
 
+  UXR_LOCK(&static_buffer_memory.mutex);
+
   // Find first related item in static buffer memory pool
   rmw_uxrce_mempool_item_t * static_buffer_item =
     rmw_uxrce_find_static_input_buffer_by_owner((void *) custom_service);
   if (static_buffer_item == NULL) {
+    UXR_UNLOCK(&static_buffer_memory.mutex);
     return RMW_RET_ERROR;
   }
 
@@ -123,6 +126,8 @@ rmw_take_request(
 
   put_memory(&static_buffer_memory, static_buffer_item);
 
+  UXR_UNLOCK(&static_buffer_memory.mutex);
+
   if (taken != NULL) {
     *taken = deserialize_rv;
   }

rmw_microxrcedds_c/src/rmw_response.c

@@ -97,10 +97,13 @@ rmw_take_response(
 
   rmw_uxrce_clean_expired_static_input_buffer();
 
+  UXR_LOCK(&static_buffer_memory.mutex);
+
   // Find first related item in static buffer memory pool
   rmw_uxrce_mempool_item_t * static_buffer_item =
     rmw_uxrce_find_static_input_buffer_by_owner((void *) custom_client);
   if (static_buffer_item == NULL) {
+    UXR_UNLOCK(&static_buffer_memory.mutex);
     return RMW_RET_ERROR;
   }
 
@@ -126,6 +129,8 @@ rmw_take_response(
 
   put_memory(&static_buffer_memory, static_buffer_item);
 
+  UXR_UNLOCK(&static_buffer_memory.mutex);
+
   if (taken != NULL) {
     *taken = deserialize_rv;
   }

rmw_microxrcedds_c/src/rmw_take.c

@@ -51,10 +51,13 @@ rmw_take_with_info(
 
   rmw_uxrce_clean_expired_static_input_buffer();
 
+  UXR_LOCK(&static_buffer_memory.mutex);
+
   // Find first related item in static buffer memory pool
   rmw_uxrce_mempool_item_t * static_buffer_item = rmw_uxrce_find_static_input_buffer_by_owner(
     (void *) custom_subscription);
   if (static_buffer_item == NULL) {
+    UXR_UNLOCK(&static_buffer_memory.mutex);
     return RMW_RET_ERROR;
   }
 
@@ -73,6 +76,8 @@ rmw_take_with_info(
 
   put_memory(&static_buffer_memory, static_buffer_item);
 
+  UXR_UNLOCK(&static_buffer_memory.mutex);
+
   if (taken != NULL) {
     *taken = deserialize_rv;
   }

rmw_microxrcedds_c/src/rmw_wait.c

@@ -34,7 +34,14 @@ rmw_wait(
   (void)events;
   (void)wait_set;
 
+  // With `rmw_uxrce_wait_mutex` member `need_to_be_ran` is protected.
+  // `session_memory` itself is not protected because it is not modified between
+  // rmw_init and rmw_shutdown, and rmw_wait cannot be called concurrently with
+  // those functions.
+  UXR_LOCK(&rmw_uxrce_wait_mutex);
+
   if (!services && !clients && !subscriptions && !guard_conditions) {
+    UXR_UNLOCK(&rmw_uxrce_wait_mutex);
     return RMW_RET_OK;
   }
 
@@ -53,8 +60,6 @@ rmw_wait(
 
   rmw_uxrce_clean_expired_static_input_buffer();
 
-  UXR_LOCK(&session_memory.mutex);
-
   // Clear run flag for all sessions
   rmw_uxrce_mempool_item_t * item = session_memory.allocateditems;
   while (item != NULL) {
@@ -63,6 +68,7 @@ rmw_wait(
     item = item->next;
   }
 
+  // TODO(pablogs9): What happens if there already data in one entity?
   // Enable flag for every XRCE session available in the entities
   for (size_t i = 0; services && i < services->service_count; ++i) {
     rmw_uxrce_service_t * custom_service = (rmw_uxrce_service_t *)services->services[i];
@@ -91,7 +97,7 @@ rmw_wait(
 
   // There is no context that contais any of the wait set entities. Nothing to wait here.
   if (available_contexts == 0) {
-    UXR_UNLOCK(&session_memory.mutex);
+    UXR_UNLOCK(&rmw_uxrce_wait_mutex);
     return RMW_RET_OK;
   }
 
@@ -108,7 +114,7 @@ rmw_wait(
     item = item->next;
   }
 
-  UXR_UNLOCK(&session_memory.mutex);
+  UXR_UNLOCK(&rmw_uxrce_wait_mutex);
 
   bool buffered_status = false;
 

rmw_microxrcedds_c/src/types.c

@@ -67,6 +67,12 @@ rmw_uxrce_wait_set_t custom_wait_set[RMW_UXRCE_MAX_WAIT_SETS];
 rmw_uxrce_mempool_t guard_condition_memory;
 rmw_uxrce_guard_condition_t custom_guard_condition[RMW_UXRCE_MAX_GUARD_CONDITION];
 
+// Global mutexs
+#ifdef UCLIENT_PROFILE_MULTITHREAD
+uxrMutex rmw_uxrce_wait_mutex;
+bool rmw_uxrce_wait_mutex_initialized = false;
+#endif  // UCLIENT_PROFILE_MULTITHREAD
+
 // Memory init functions
 
 #define RMW_INIT_MEMORY(X) \