Another fix for ClientData. (#336)

* Another fix for ClientData. Signed-off-by: Chris Lalancette <[email protected]> * Minor optimizations Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]>
ros2 · Dec 11, 2024 · ca5058c · ca5058c
1 parent 8bca9d7
commit ca5058c
Show file tree

Hide file tree

Showing 3 changed files with 25 additions and 66 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -42,20 +42,30 @@
 
 namespace
 {
+///=============================================================================
+struct ClientDataWrapper
+{
+  explicit ClientDataWrapper(std::shared_ptr<rmw_zenoh_cpp::ClientData> data)
+  : client_data(std::move(data))
+  {
+  }
+
+  std::shared_ptr<rmw_zenoh_cpp::ClientData> client_data;
+};
 
 ///=============================================================================
 void client_data_handler(z_loaned_reply_t * reply, void * data)
 {
-  auto client_data = static_cast<rmw_zenoh_cpp::ClientData *>(data);
-  if (client_data == nullptr) {
+  auto wrapper = static_cast<ClientDataWrapper *>(data);
+  if (wrapper == nullptr) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to obtain client_data_t from data in client_data_handler."
     );
     return;
   }
 
-  if (client_data->is_shutdown()) {
+  if (wrapper->client_data->is_shutdown()) {
     return;
   }
 
@@ -69,7 +79,7 @@ void client_data_handler(z_loaned_reply_t * reply, void * data)
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "z_reply_is_ok returned False for keyexpr %s. Reason: %.*s",
-      client_data->topic_info().topic_keyexpr_.c_str(),
+      wrapper->client_data->topic_info().topic_keyexpr_.c_str(),
       static_cast<int>(z_string_len(z_loan(err_str))),
       z_string_data(z_loan(err_str)));
     z_drop(z_move(err_str));
@@ -80,23 +90,23 @@ void client_data_handler(z_loaned_reply_t * reply, void * data)
   std::chrono::nanoseconds::rep received_timestamp =
     std::chrono::system_clock::now().time_since_epoch().count();
 
-  client_data->add_new_reply(
+  wrapper->client_data->add_new_reply(
     std::make_unique<rmw_zenoh_cpp::ZenohReply>(reply, received_timestamp));
 }
 
 ///=============================================================================
 void client_data_drop(void * data)
 {
-  auto client_data = static_cast<rmw_zenoh_cpp::ClientData *>(data);
-  if (client_data == nullptr) {
+  auto wrapper = static_cast<ClientDataWrapper *>(data);
+  if (wrapper == nullptr) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to obtain client_data_t from data in client_data_drop."
     );
     return;
   }
 
-  client_data->decrement_in_flight_and_conditionally_remove();
+  delete wrapper;
 }
 
 }  // namespace
@@ -228,8 +238,7 @@ ClientData::ClientData(
   wait_set_data_(nullptr),
   sequence_number_(1),
   is_shutdown_(false),
-  initialized_(false),
-  num_in_flight_(0)
+  initialized_(false)
 {
   // Do nothing.
 }
@@ -470,9 +479,9 @@ rmw_ret_t ClientData::send_request(
 
   // TODO(Yadunund): Once we switch to zenoh-cpp with lambda closures,
   // capture shared_from_this() instead of this.
-  num_in_flight_++;
+  ClientDataWrapper * wrapper = new ClientDataWrapper(shared_from_this());
   z_owned_closure_reply_t zn_closure_reply;
-  z_closure(&zn_closure_reply, client_data_handler, client_data_drop, this);
+  z_closure(&zn_closure_reply, client_data_handler, client_data_drop, wrapper);
   z_get(
     sess_->loan(),
     z_loan(keyexpr_), "",
@@ -527,10 +536,11 @@ bool ClientData::detach_condition_and_queue_is_empty()
 }
 
 ///=============================================================================
-void ClientData::_shutdown()
+rmw_ret_t ClientData::shutdown()
 {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   if (is_shutdown_) {
-    return;
+    return RMW_RET_OK;
   }
 
   // Unregister this node from the ROS graph.
@@ -541,45 +551,10 @@ void ClientData::_shutdown()
 
   sess_.reset();
   is_shutdown_ = true;
-}
 
-///=============================================================================
-rmw_ret_t ClientData::shutdown()
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-  _shutdown();
   return RMW_RET_OK;
 }
 
-///=============================================================================
-bool ClientData::shutdown_and_query_in_flight()
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-  _shutdown();
-  return num_in_flight_ > 0;
-}
-
-///=============================================================================
-void ClientData::decrement_in_flight_and_conditionally_remove()
-{
-  std::unique_lock<std::recursive_mutex> lock(mutex_);
-  --num_in_flight_;
-
-  if (is_shutdown_ && num_in_flight_ == 0) {
-    rmw_context_impl_s * context_impl = static_cast<rmw_context_impl_s *>(rmw_node_->data);
-    if (context_impl == nullptr) {
-      return;
-    }
-    std::shared_ptr<rmw_zenoh_cpp::NodeData> node_data = context_impl->get_node_data(rmw_node_);
-    if (node_data == nullptr) {
-      return;
-    }
-    // We have to unlock here since we are about to delete ourself, and thus the unlock would be UB.
-    lock.unlock();
-    node_data->delete_client_data(rmw_client_);
-  }
-}
-
 ///=============================================================================
 bool ClientData::is_shutdown() const
 {

diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
@@ -95,12 +95,6 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   // Shutdown this ClientData.
   rmw_ret_t shutdown();
 
-  // Shutdown this ClientData, and return whether there are any requests currently in flight.
-  bool shutdown_and_query_in_flight();
-
-  // Decrement the in flight requests, and if that drops to 0 remove the client from the node.
-  void decrement_in_flight_and_conditionally_remove();
-
   // Check if this ClientData is shutdown.
   bool is_shutdown() const;
 
@@ -122,9 +116,6 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   // Initialize the Zenoh objects for this entity.
   bool init(std::shared_ptr<ZenohSession> session);
 
-  // Shutdown this client (the mutex is expected to be held by the caller).
-  void _shutdown();
-
   // Internal mutex.
   mutable std::recursive_mutex mutex_;
   // The parent node.
@@ -155,7 +146,6 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   bool is_shutdown_;
   // Whether the object has ever successfully been initialized.
   bool initialized_;
-  size_t num_in_flight_;
 };
 using ClientDataPtr = std::shared_ptr<ClientData>;
 using ClientDataConstPtr = std::shared_ptr<const ClientData>;

diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -383,13 +383,7 @@ ClientDataPtr NodeData::get_client_data(const rmw_client_t * const client)
 void NodeData::delete_client_data(const rmw_client_t * const client)
 {
   std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
-  auto client_it = clients_.find(client);
-  if (client_it == clients_.end()) {
-    return;
-  }
-  if (!client_it->second->shutdown_and_query_in_flight()) {
-    clients_.erase(client);
-  }
+  clients_.erase(client);
 }
 
 ///=============================================================================