terminate called after throwing an instance of 'std::system_error' what(): Resource deadlock avoided #1519
Description
Bug report
Required Info:
- Operating System:
- ubuntu 20.04-->
- Installation type:
- from source
- Version or commit hash:
- eloquent
- DDS implementation:
- Fast-RTPS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
I'm writing gtest scripts. My SetUp():
void SetUp()
{
auto context = contexts::default_context::get_global_default_context();
auto options = NodeOptions()
.context(context)
// BUG: if set true, test would crash: std::system_error Resource deadlock avoided!
.use_intra_process_comms(true)
.automatically_declare_parameters_from_overrides(true);
mappingNode_ = std::make_shared<Node>("mapping", options);
bool res = false;
res = Mapping::getInstance()->initialize(mappingNode_);
if(!res){
RCLCPP_ERROR(mappingNode_->get_logger(), "Failed to initialize.");
}
executor = std::make_shared<executors::MultiThreadedExecutor>
(executor::ExecutorArgs(), 2);
executor->add_node(mappingNode_);
}In TEST_F(), if I used executor.spin_until_future_complete() to wait some messages, test program would crash when entering the second TEST_F(). If I use spin_some() instead, the program would run without crashing.
You can find the line above use_intra_process_comms(true). If it's set to true, 'Resource deadlock avoided' would occur in the second test case.
TEST_F()
{
promise<void> promise;
Subscription<Mode>::SharedPtr ModeSub;
auto ModeCB = [&ModeSub, &promise](Mode::SharedPtr msg)->void{
if(msg->mode == Mode::W &&
msg->state == Mode::I){
promise.set_value();
ModeSub.reset();
}
};
ModeSub =
pubNode_->create_subscription<Mode>("aa",
QoS(QoSInitialization::from_rmw(rmw_qos_profile_default)),
ModeCB);
shared_future<void> future(promise.get_future());
ASSERT_EQ(executor->spin_until_future_complete(future, 2s), executor::FutureReturnCode::SUCCESS);
}0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50
#1 0x00007ffff6737859 in __GI_abort () at abort.c:79
#2 0x00007ffff6b0c951 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#3 0x00007ffff6b1847c in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#4 0x00007ffff6b17459 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#5 0x00007ffff6b17e11 in __gxx_personality_v0 () from /lib/x86_64-linux-gnu/libstdc++.so.6
#6 0x00007ffff6914bdf in ?? () from /lib/x86_64-linux-gnu/libgcc_s.so.1
#7 0x00007ffff6915271 in _Unwind_RaiseException () from /lib/x86_64-linux-gnu/libgcc_s.so.1
#8 0x00007ffff6b1878c in __cxa_throw () from /lib/x86_64-linux-gnu/libstdc++.so.6
#9 0x00007ffff6b0f77f in std::__throw_system_error(int) () from /lib/x86_64-linux-gnu/libstdc++.so.6
#10 0x00007ffff7af3a99 in std::__shared_mutex_pthread::lock (this=0x55555617af50) at /usr/include/c++/9/shared_mutex:188
#11 0x00007ffff7af3b34 in std::shared_timed_mutex::lock (this=0x55555617af50) at /usr/include/c++/9/shared_mutex:459
#12 0x00007ffff7af519b in std::unique_lock<std::shared_timed_mutex>::lock (this=0x7ffffffea490)
at /usr/include/c++/9/bits/unique_lock.h:141
#13 0x00007ffff7af45dd in std::unique_lock<std::shared_timed_mutex>::unique_lock (this=0x7ffffffea490, __m=...)
at /usr/include/c++/9/bits/unique_lock.h:71
#14 0x00007ffff7af2d3e in rclcpp::experimental::IntraProcessManager::remove_subscription (this=0x55555617aea0,
intra_process_subscription_id=2)
at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/intra_process_manager.cpp:86
#15 0x00007ffff7bd3b67 in rclcpp::SubscriptionBase::~SubscriptionBase (this=0x55555619ac90, __in_chrg=<optimized out>)
at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/subscription_base.cpp:96
--Type <RET> for more, q to quit, c to continue without paging--
pp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >::~Subscription (this=0x55555619ac90, __in_chrg=<optimized out>)
at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/include/rclcpp/subscription.hpp:67
#17 0x00007ffff7c02087 in __gnu_cxx::new_allocator<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >::destroy<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > > (this=0x55555619ac90, __p=0x55555619ac90)
at /usr/include/c++/9/ext/new_allocator.h:153
#18 0x00007ffff7c00065 in std::allocator_traits<std::allocator<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > > >::destroy<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > > (__a=..., __p=0x55555619ac90)
at /usr/include/c++/9/bits/alloc_traits.h:497
#19 0x00007ffff7bfd13d in std::_Sp_counted_ptr_inplace<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, std::allocator<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > > >, (__gnu_cxx::_Lock_policy)2>::_M_dispose (this=0x55555619ac80)
at /usr/include/c++/9/bits/shared_ptr_base.h:557
#20 0x000055555563c380 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x55555619ac80) at /usr/include/c++/9/bits/shared_ptr_base.h:155
#21 0x0000555555637ec3 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x7ffffffeb7d8, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:730
#22 0x00007ffff7bd9ad8 in std::__shared_ptr<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x7ffffffeb7d0, __in_chrg=<optimized out>)
at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#23 0x00007ffff7bda7aa in std::__shared_ptr<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >, std::allocator<void> > >, (__gnu_cxx::_Lock_policy)2>::reset (this=0x5555561a2b80) at /usr/include/c++/9/bits/shared_ptr_base.h:1287
#24 0x00007ffff7bd785e in rclcpp::TimeSource::detachNode (this=0x5555561a2ac8) at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/time_source.cpp:132
#25 0x00007ffff7bd7ed0 in rclcpp::TimeSource::~TimeSource (this=0x5555561a2ac8, __in_chrg=<optimized out>) at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/time_source.cpp:180
#26 0x00007ffff7b5ec0e in rclcpp::node_interfaces::NodeTimeSource::~NodeTimeSource (this=0x5555561a2a50, __in_chrg=<optimized out>)
at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_time_source.cpp:49
#27 0x00007ffff7b5ecaa in rclcpp::node_interfaces::NodeTimeSource::~NodeTimeSource (this=0x5555561a2a50, __in_chrg=<optimized out>)
at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_time_source.cpp:50
#28 0x00007ffff7b1b780 in std::_Sp_counted_ptr<rclcpp::node_interfaces::NodeTimeSource*, (__gnu_cxx::_Lock_policy)2>::_M_dispose (this=0x555556198760) at /usr/include/c++/9/bits/shared_ptr_base.h:377
#29 0x000055555563c380 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x555556198760) at /usr/include/c++/9/bits/shared_ptr_base.h:155
#30 0x0000555555637ec3 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x555555fbb9c0, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:730
#31 0x00007ffff7b1416c in std::__shared_ptr<rclcpp::node_interfaces::NodeTimeSourceInterface, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x555555fbb9b8, __in_chrg=<optimized out>)
at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#32 0x00007ffff7b1418c in std::shared_ptr<rclcpp::node_interfaces::NodeTimeSourceInterface>::~shared_ptr (this=0x555555fbb9b8, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr.h:103
#33 0x00007ffff7b11fb0 in rclcpp::Node::~Node (this=0x555555fbb920, __in_chrg=<optimized out>) at /home/chervon/ros2_eloquent_source/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:185
#34 0x000055555568cec5 in __gnu_cxx::new_allocator<rclcpp::Node>::destroy<rclcpp::Node> (this=0x555555fbb920, __p=0x555555fbb920) at /usr/include/c++/9/ext/new_allocator.h:153
#35 0x000055555568b483 in std::allocator_traits<std::allocator<rclcpp::Node> >::destroy<rclcpp::Node> (__a=..., __p=0x555555fbb920) at /usr/include/c++/9/bits/alloc_traits.h:497
#36 0x0000555555687d19 in std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_M_dispose (this=0x555555fbb910) at /usr/include/c++/9/bits/shared_ptr_base.h:557
#37 0x000055555563c380 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x555555fbb910) at /usr/include/c++/9/bits/shared_ptr_base.h:155
#38 0x0000555555637ec3 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x555555fbef50, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:730
#39 0x00005555556351de in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x555555fbef48, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:1169
#40 0x00005555556351fe in std::shared_ptr<rclcpp::Node>::~shared_ptr (this=0x555555fbef48, __in_chrg=<optimized out>) at /usr/include/c++/9/bits/shared_ptr.h:103
Expected behavior
Run through each test case.
Actual behavior
The first test case passed OK. But test program crashed when entering the second test case.