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use events exec instaed of single threded one #1

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use events exec instaed of single threded one #1

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@jplapp jplapp commented Dec 31, 2023

Events Executor is significantly faster than the default single threaded one -> use it for the composable nodes container

@jplapp jplapp requested a review from HovorunB December 31, 2023 09:20
mauropasse and others added 19 commits January 25, 2024 09:10
@mauropasse @jplapp
Declare rclcpp callbacks before the rcl entities (ros2#2024)
018eb9b 
This is to ensure callbacks are destroyed last
on entities destruction, avoiding the gap in time
in which rmw entities hold a reference to a
destroyed function.

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
Co-authored-by: Mauro Passerino <mpasserino@irobot.com>
@alsora @jplapp
add mutex to protect events_executor current entity collection (ros2#…
4120b79 
…2187)

* add mutex to protect events_executor current entity collection and unit-test

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* be more precise with mutex locks; make stress test less stressfull

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* fix uncrustify error

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

---------

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
@clalancette @jplapp
Remove an unused variable from the events executor tests. (ros2#2270)
74f5221 
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
@jmachowinski @fujitatomoya @jplapp
fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks (ros…
a1a356c 
…2#2267)

* fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks

This prevents deadlocks in cases, were e.g. get_status() would
be called on the handle in a callback of the handle.

* test(rclcpp_action): Added test for deadlocks during access of a goal handle

This test checks, if the code deadlocks, if methods on the goal handle are
called from the callbacks.

Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
@clalancette @jplapp
Add locking to protect the TimeSource::NodeState::node_base_ (ros2#2320)
07e90fd 
We need this because it is possible for one thread to
be handling the on_parameter_event callback while another
one is detaching the node.  This lock will protect that
from happening.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
@jplapp
Revert "Add locking to protect the TimeSource::NodeState::node_base_ (r…
9e4aaed 
…os2#2320)"

This reverts commit 07e90fd.
@jplapp
Revert "fix(ClientGoalHandle): Made mutex recursive to prevent deadlo…
b0a956b 
…cks (ros2#2267)"

This reverts commit a1a356c.
@jplapp
Revert "Remove an unused variable from the events executor tests. (ro…
6698620 
…s2#2270)"

This reverts commit 74f5221.
@jplapp
Revert "add mutex to protect events_executor current entity collection (
16aa7a1 
ros2#2187)"

This reverts commit 4120b79.
@jplapp
Revert "Declare rclcpp callbacks before the rcl entities (ros2#2024)"
0e7c782 
This reverts commit 018eb9b.
@jefferyyjhsu @HovorunB
Add transient local durability support to publisher and subscriptions…
f6dd91d 
… when using intra-process communication (ros2#2303)

* Add intra process transient local durability support to publisher and subscription

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Remove durability_is_transient_local_ from publisher_base
Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Design changes that move most transient local publish functionalities out of
intra process manager into intra process manager

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Move transient local publish to a separate function

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Remove publisher buffer weak ptr from intra process manager when it associated publisher is removed.

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Remove incorrectly placed RCLCPP_PUBLIC

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Add missing RCLCPP_PUBLIC

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Expand RingBufferImplementation beyond shared_ptr and unique_ptr

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

* Comment and format fix

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>

---------

Signed-off-by: Jeffery Hsu <jefferyyjhsu@gmail.com>
@HovorunB
.
463fc84
@HovorunB
.
eb55410
@HovorunB
Merge pull request #2 from pixel-robotics/AMRNAV-6258_use_ipc
cb248c3 
AMRNAV-6258 Use intra process communication
@DensoADAS @jacobperron @HovorunB
Updated GenericSubscription to AnySubscriptionCallback (ros2#1928)
0b8e250 
* added rclcpp::SerializedMessage support for AnySubscriptionCallback

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

* using AnySubscription callback for generic subscriptiion

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

* updated tests

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

* Remove comment

Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

---------

Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>
Co-authored-by: Joshua Hampp <j.hampp@denso-adas.de>
Co-authored-by: Jacob Perron <jacob@openrobotics.org>
@HovorunB
Squashed commit of the following:
c5cc2c1 
commit a8e279c
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Dec 11 15:52:34 2023 +0100

    added test for SubscriptionIntraProcess with unique subscriber

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>

commit 4f6e466
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Dec 11 15:51:54 2023 +0100

    extended test for shared callback to cover more use cases

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>

commit 2115b26
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Dec 11 14:11:21 2023 +0100

    added test_intra_process_subscriber to test serialized communication with IPM

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>

commit 9d37234
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Nov 6 07:17:36 2023 +0100

    updated SubscriptionTopicStatistics to current master

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>

commit 280e7be
Author: Joshua Hampp <j.hampp@eu.denso.com>
Date:   Mon May 22 11:18:02 2023 +0200

    updated to rolling

    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 16fc15f
Author: Joshua Hampp <j.hampp@eu.denso.com>
Date:   Mon May 8 13:53:30 2023 +0200

    fixes due to rebase

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 3978f2a
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Wed Aug 3 09:21:21 2022 +0200

    added unit test for generic publisher/subscriber with intraprocess communication

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 245c868
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Aug 1 13:03:43 2022 +0200

    fixed duplicated messages for ipm and serialized messages

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit e98c158
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu Jul 7 08:42:48 2022 +0200

    added additional methods for create_generic_subscription

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit c2501cf
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu Jul 7 08:14:41 2022 +0200

    updated test to ipm issue

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit c9b148b
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu Jul 7 08:14:18 2022 +0200

    throwing error when subscription callback uses rclcpp::SerializedMessage and subscriber has a ros message type for intra process communication

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 667d8d2
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu Jul 7 08:13:15 2022 +0200

    fixed intra process publish of serialized message

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 048c458
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu Jun 23 08:41:59 2022 +0200

    using instead of typedef

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 098b6dd
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu Jun 23 08:41:48 2022 +0200

    splitted deserialization and message forwarding

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 158ab2c
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Wed Jun 22 11:44:44 2022 +0200

    removed specialization of GenericSubscription

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 7880677
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Wed Jun 22 10:30:15 2022 +0200

    fix double return

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit b4236b3
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Jun 20 11:04:43 2022 +0200

    enabled qos override

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit f45d12b
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Jun 20 11:04:24 2022 +0200

    added failure case at top

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit ea9245e
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Jun 20 11:03:37 2022 +0200

    added comment block

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 795a281
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Jun 20 11:02:25 2022 +0200

    fixed comment

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit de29d0e
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Mon Jun 20 07:46:27 2022 +0200

    renamed to Indices

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 9e16b43
Author: DensoADAS <46967124+DensoADAS@users.noreply.github.com>
Date:   Mon Jun 20 08:10:57 2022 +0200

    Update rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Co-authored-by: Jacob Perron <jacob@openrobotics.org>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 9b5fd63
Author: DensoADAS <46967124+DensoADAS@users.noreply.github.com>
Date:   Mon Jun 20 08:10:50 2022 +0200

    Update rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Co-authored-by: Jacob Perron <jacob@openrobotics.org>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 4cbc678
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Tue May 17 09:02:15 2022 +0200

    using const modifier

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit c8fd558
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Tue May 17 09:02:05 2022 +0200

    updated comments

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 4a34d97
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Tue May 17 09:01:45 2022 +0200

    renamed to SplitSubscriptionsIndices and changed datatype to unsigned

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit bb09e50
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Fri May 13 10:27:52 2022 +0200

    added ipm for generic_subscription

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 2a28f60
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Fri May 13 10:27:34 2022 +0200

    updated tests

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 18c9259
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu May 12 14:28:25 2022 +0200

    updated tests

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 1f1f28f
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu May 12 14:28:03 2022 +0200

    updated publisher/subcription factories

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 33cb9dc
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu May 12 14:27:41 2022 +0200

    * publish std::unique_ptr<rclcpp::SerializedMessage> support with ipm
    * publisher constructor with message type support

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>

commit 636e076
Author: Joshua Hampp <j.hampp@denso-adas.de>
Date:   Thu May 12 14:26:20 2022 +0200

    added rclcpp::SerializedMessage support to IPM

    Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
    Signed-off-by: Joshua Hampp <j.hampp@eu.denso.com>
@HovorunB
.
8ef1ae3
@HovorunB
fix
4506162
@HovorunB
Merge pull request #3 from pixel-robotics/AMRNAV-6339
24be5b2 
AMRNAV-6339 Enable IPC for rosbag recorder and foxglove bridge: Support IPC for serialized subscribers
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8 participants
@jplapp @HovorunB @mauropasse @alsora @clalancette @jmachowinski @jefferyyjhsu @DensoADAS