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Update the LoanManager to do internal locking. #552

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Aug 16, 2021
Merged

Update the LoanManager to do internal locking. #552

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58 changes: 39 additions & 19 deletions rmw_fastrtps_shared_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <memory>
#include <utility>

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
Expand Down Expand Up @@ -401,8 +402,32 @@ struct LoanManager
{
}

void add_item(std::unique_ptr<Item> item)
{
std::lock_guard<std::mutex> guard(mtx);
items.push_back(std::move(item));
}

std::unique_ptr<Item> erase_item(void * loaned_message)
{
std::unique_ptr<Item> ret{nullptr};

std::lock_guard<std::mutex> guard(mtx);
for (auto it = items.begin(); it != items.end(); ++it) {
if (loaned_message == (*it)->data_seq.buffer()[0]) {
ret = std::move(*it);
items.erase(it);
break;
}
}

return ret;
}

private:
std::mutex mtx;
eprosima::fastrtps::ResourceLimitedVector<Item> items RCPPUTILS_TSA_GUARDED_BY(mtx);
using ItemVector = eprosima::fastrtps::ResourceLimitedVector<std::unique_ptr<Item>>;
ItemVector items RCPPUTILS_TSA_GUARDED_BY(mtx);
};

void
Expand Down Expand Up @@ -440,13 +465,8 @@ __rmw_take_loaned_message_internal(
RMW_CHECK_ARGUMENT_FOR_NULL(taken, RMW_RET_INVALID_ARGUMENT);

auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
auto loan_mgr = info->loan_manager_;
std::unique_lock<std::mutex> guard(loan_mgr->mtx);
auto item = loan_mgr->items.emplace_back();
if (nullptr == item) {
RMW_SET_ERROR_MSG("Out of resources for loaned message info");
return RMW_RET_ERROR;
}

auto item = std::make_unique<rmw_fastrtps_shared_cpp::LoanManager::Item>();

while (ReturnCode_t::RETCODE_OK == info->data_reader_->take(item->data_seq, item->info_seq, 1)) {
if (item->info_seq[0].valid_data) {
Expand All @@ -456,6 +476,9 @@ __rmw_take_loaned_message_internal(
*loaned_message = item->data_seq.buffer()[0];
*taken = true;
info->listener_->update_has_data(info->data_reader_);

info->loan_manager_->add_item(std::move(item));

return RMW_RET_OK;
}

Expand All @@ -464,7 +487,6 @@ __rmw_take_loaned_message_internal(
}

// No data available, return loan information.
loan_mgr->items.pop_back();
*taken = false;
info->listener_->update_has_data(info->data_reader_);
return RMW_RET_OK;
Expand All @@ -487,17 +509,15 @@ __rmw_return_loaned_message_from_subscription(
RMW_CHECK_ARGUMENT_FOR_NULL(loaned_message, RMW_RET_INVALID_ARGUMENT);

auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
auto loan_mgr = info->loan_manager_;
std::lock_guard<std::mutex> guard(loan_mgr->mtx);
for (auto it = loan_mgr->items.begin(); it != loan_mgr->items.end(); ++it) {
if (loaned_message == it->data_seq.buffer()[0]) {
if (!info->data_reader_->return_loan(it->data_seq, it->info_seq)) {
RMW_SET_ERROR_MSG("Error returning loan");
return RMW_RET_ERROR;
}
loan_mgr->items.erase(it);
return RMW_RET_OK;
std::unique_ptr<rmw_fastrtps_shared_cpp::LoanManager::Item> item;
item = info->loan_manager_->erase_item(loaned_message);
if (item != nullptr) {
if (!info->data_reader_->return_loan(item->data_seq, item->info_seq)) {
RMW_SET_ERROR_MSG("Error returning loan");
return RMW_RET_ERROR;
}

return RMW_RET_OK;
}

RMW_SET_ERROR_MSG("Trying to return message not loaned by this subscription");
Expand Down