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Utilize rclcpp::WaitSet as part of the executors - #2142

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wjwwood merged 106 commits into
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mjcarroll/rclcpp_waitset_executor
Mar 29, 2024
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Utilize rclcpp::WaitSet as part of the executors#2142
wjwwood merged 106 commits into
rollingfrom
mjcarroll/rclcpp_waitset_executor

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@mjcarroll

@mjcarroll mjcarroll commented Mar 28, 2023 •
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Improve number of rcl_wait_set creations and deletions by making the default Single/Multithreaded executors work like the static single threaded executor in terms of entity collection rebuilding.

TODOS

  • The concepts of entity collector and notify waitable come from add events-executor and timers-manager in rclcpp #2140, they need to be rectified with that pull request and iRobot copyright needs to be added to appropriate files
  • restore static-single threaded files (removed for ease of testing)
  • documentation/test coverage on some of the new structures

@mjcarroll mjcarroll mentioned this pull request Mar 28, 2023
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alsora
alsora reviewed Mar 28, 2023
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Comment thread rclcpp/src/rclcpp/executors/executor_entities_collection.cpp Outdated
@alsora

ghost commented Mar 28, 2023

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@mjcarroll I looked into the new entities collection and collector classes and they look great.

I think that there are very few changes needed in order to use them with the events-executor:

  1. add to ExecutorEntitiesCollection some public methods such as
rclcpp::ClientBase::WeakPtr get_client(const rcl_client_t * client_handle);
  1. the ExecutorNotifyWaitable in the events-executor should have an execute function that refresh the events-executor collections. to do so, it will need to access some internal methods of the events-executor. this could be configurable through a lambda function passed during construction.

alsora
alsora reviewed Mar 28, 2023
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Comment thread rclcpp/src/rclcpp/executors/executor_entities_collector.cpp Outdated
@mjcarroll mjcarroll mentioned this pull request Mar 29, 2023
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mjcarroll force-pushed the mjcarroll/rclcpp_waitset_executor branch from b74b192 to ad3f3e5 Compare March 29, 2023 18:07
Michael Carroll added 7 commits March 29, 2023 19:42
Michael Carroll
Template common operations
2426056 
Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Address reviewer feedback:
173ffd6 
* Add callback to EntitiesCollector constructor
* Make function to check automatically added callback groups take a list

Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Lint
a524bf0 
Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Address reviewer feedback and fix templates
89f2106 
Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Merge branch 'rolling' into mjcarroll/executor_structures
9695eaa
Michael Carroll
Lint and docs
e173e5a 
Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Make executor own the notify waitable
653d1a3 
Signed-off-by: Michael Carroll <[email protected]>
@mjcarroll
mjcarroll force-pushed the mjcarroll/rclcpp_waitset_executor branch from ad3f3e5 to 14e009e Compare March 31, 2023 02:04
@mjcarroll
mjcarroll changed the base branch from rolling to mjcarroll/executor_structures March 31, 2023 02:05
@mjcarroll
mjcarroll force-pushed the mjcarroll/rclcpp_waitset_executor branch 2 times, most recently from 4191445 to ed791d3 Compare March 31, 2023 02:13
@mjcarroll
mjcarroll marked this pull request as ready for review March 31, 2023 13:46
Michael Carroll added 4 commits April 3, 2023 17:09
Michael Carroll
Add pending queue to collector, remove from waitable
a6c4c1b 
Also change node's get_guard_condition to return shared_ptr

Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Change interrupt guard condition to shared_ptr
9dd48ce 
Check if guard condition is valid before adding it to the waitable

Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Lint and docs
6267741 
Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Utilize rclcpp::WaitSet as part of the executors
974e845 
Signed-off-by: Michael Carroll <[email protected]>
@mjcarroll
mjcarroll force-pushed the mjcarroll/rclcpp_waitset_executor branch from ed791d3 to 974e845 Compare April 3, 2023 18:55
Michael Carroll added 2 commits April 3, 2023 19:30
Michael Carroll
Don't exchange atomic twice
1b1a915 
Signed-off-by: Michael Carroll <[email protected]>
Michael Carroll
Fix add_node and add more tests
0a9c9a6 
Signed-off-by: Michael Carroll <[email protected]>
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@dhood

ghost commented Apr 24, 2024

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hey @wjwwood , I was just in a roscontrol WG meeting where @christophfroehlich mentioned a regression that they've seen only in rolling testing build. they're manually building a waitset around a subscription, which maybe is a bit of a niche case, but wanted to flag it for triaging before the next sync is planned - it might not be possible to have a subscription in two wait sets after the changes in this PR?

@christophfroehlich

ghost commented Apr 24, 2024

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Thanks for pinging this here. It is already failing on main, I think this change here was released already.

@dhood

ghost commented Apr 25, 2024

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ok - although I have a new thought - maybe now the intended behaviour is being enforced! The exception "subscription already associated with a wait set" might mean that it was never appropriate to have it in two wait sets 😅

@fujitatomoya

ghost commented Apr 25, 2024

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it might not be possible to have a subscription in two wait sets after the changes in this PR?

No, we cannot add the subscription to different wait set after this change. there is a test case to expect the exception,

rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

Lines 165 to 167 in de666d2

EXPECT_THROW(
node_topics->add_subscription(subscription, callback_group_in_different_node),
std::runtime_error);

CC: @wjwwood @mjcarroll

@wjwwood

ghost commented Apr 25, 2024

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maybe now the intended behaviour is being enforced! The exception "subscription already associated with a wait set" might mean that it was never appropriate to have it in two wait sets 😅

Sorry, just catching up on this, yes indeed that is the case. Technically the constraint is that you cannot wait on one subscription from two different wait sets simultaneously, but we enforce that by not allowing a single subscription to be contained in/associated with more than one wait set at a time.

@wjwwood

ghost commented Apr 25, 2024 •
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they're manually building a waitset around a subscription, which maybe is a bit of a niche case, but wanted to flag it for triaging before the next sync is planned

If you want to use a subscription with a wait set manually (and that is totally ok to do), then you need to make sure the subscription is not part of a callback group that was added to an executor. You can do that by creating a callback group that has the automatically_add_to_executor_with_node flag set to false (

rclcpp/rclcpp/include/rclcpp/node.hpp

Line 151 in de666d2

bool automatically_add_to_executor_with_node = true);
) and use it when creating the subscription. That will ensure that callback group is never added to an executor (and therefore a wait set) when the node is added to an executor.

@dhood

ghost commented Apr 26, 2024

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oo hadn't noticed that before; awesome! thanks for the pointers!

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@wjwwood wjwwood wjwwood approved these changes
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