Ensure all Clock accesses are thread-safe#999
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It would be good to keep these two changes (PIMPL and adding a mutex) separate since together in a single commit it just makes the review harder. |
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@dirk-thomas fair enough, see a91ba82 and f4ff7f1. |
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This is an alternative PR to #999 The code in this one is less nice, but it is ABI-safe. Thus, it can be used as a short-term workaround for users hurt by the problem now, and/or used as the solution for Eloquent. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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Beside a nitpick looks good to me. Maybe merge without squashing to keep the two commits separate?
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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CI up to
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clalancette
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Feb 26, 2020
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Alright, going in! |
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This is an alternative PR to #999 The code in this one is less nice, but it is ABI-safe. Thus, it can be used as a short-term workaround for users hurt by the problem now, and/or used as the solution for Eloquent. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
clalancette
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This is an alternative PR to #999 The code in this one is less nice, but it is ABI-safe. Thus, it can be used as a short-term workaround for users hurt by the problem now, and/or used as the solution for Eloquent. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
clalancette
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This is an alternative PR to #999 The code in this one is less nice, but it is ABI-safe. Thus, it can be used as a short-term workaround for users hurt by the problem now, and/or used as the solution for Eloquent. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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Precisely what the title says. Before this patch, both
rclcpp::Clockandrclcpp::TimerBase(though indirectly throughrcl) would access non thread-safercl_clock_*API without locking, leading to internal state corruption on concurrent access in multi-threaded applications.This change is ABI breaking w.r.t. to previous distro releases (e.g. Eloquent) but sets the scene for future non ABI breaking changes using a PIMPL.