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set call_finished_ with true for each call inside callFinished #2074

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merged 3 commits into from
Oct 15, 2020
Merged

set call_finished_ with true for each call inside callFinished #2074

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929a405
set call_finished_ with true for each call inside callFinished
Oct 12, 2020
e1a06e2
Update based on review
Oct 14, 2020
9437cfc
set the flag with true again even if it is true already
Oct 15, 2020
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6 changes: 5 additions & 1 deletion clients/roscpp/src/libros/service_server_link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -262,6 +262,7 @@ void ServiceServerLink::callFinished()

current_call_->finished_ = true;
current_call_->finished_condition_.notify_all();
current_call_->call_finished_ = true;
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it looks reasonable to change call_finished_ into true once current call in the queue is finished.

but is this supposed to be moved from caller thread? adding call_finished_ = true here means, it should check if call_finished_ is true on caller thread instead.

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but is this supposed to be moved from caller thread?

It should keep here. There are some cases, such as,

ros_comm/test/test_roscpp/test/src/service_call.cpp

Lines 97 to 109 in 089dd64

TEST(SrvCall, callSrvWithWrongType)
{
test_roscpp::BadTestStringString::Request req;
test_roscpp::BadTestStringString::Response res;
ASSERT_TRUE(ros::service::waitForService("service_adv"));
for ( int i = 0; i < 4; ++i )
{
bool call_result = ros::service::call("service_adv", req, res);
ASSERT_FALSE(call_result);
}
}

in this case, ServiceServerLink::callFinished will not be called, and then if ServiceServerLink exit,

ServiceServerLink::~ServiceServerLink -> ... -> ServiceServerLink::cancelCall

ros_comm/clients/roscpp/src/libros/service_server_link.cpp

Lines 73 to 85 in 089dd64

{
boost::mutex::scoped_lock lock(local->finished_mutex_);
local->finished_ = true;
local->finished_condition_.notify_all();
}
if (boost::this_thread::get_id() != info->caller_thread_id_)
{
while (!local->call_finished_)
{
boost::this_thread::yield();
}
}

stuck in while (!local->call_finished_) if we remove

ros_comm/clients/roscpp/src/libros/service_server_link.cpp

Line 374 in 089dd64

info->call_finished_ = true;

adding call_finished_ = true here means, it should check if call_finished_ is true

Okay


saved_call = current_call_;
current_call_ = CallInfoPtr();
Expand Down Expand Up @@ -371,7 +372,10 @@ bool ServiceServerLink::call(const SerializedMessage& req, SerializedMessage& re
}
}

info->call_finished_ = true;
if (!info->call_finished_)
{
info->call_finished_ = true;
}
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if (info->exception_string_.length() > 0)
{
Expand Down