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Make sure to lock the mutex protecting client_endpoints_. #492

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Dec 9, 2020
Merged

Make sure to lock the mutex protecting client_endpoints_. #492

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39 changes: 24 additions & 15 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,10 +125,13 @@ class ServicePubListener : public eprosima::fastrtps::PublisherListener
check_for_subscription(
const eprosima::fastrtps::rtps::GUID_t & guid)
{
// Check if the guid is still in the map
if (clients_endpoints_.find(guid) == clients_endpoints_.end()) {
// Client is gone
return client_present_t::GONE;
{
std::lock_guard<std::mutex> lock(mutex_);
// Check if the guid is still in the map
if (clients_endpoints_.find(guid) == clients_endpoints_.end()) {
// Client is gone
return client_present_t::GONE;
}
}
// Wait for subscription
if (!wait_for_subscription(guid, std::chrono::milliseconds(100))) {
Expand All @@ -137,11 +140,23 @@ class ServicePubListener : public eprosima::fastrtps::PublisherListener
return client_present_t::YES;
}

// Accesors
clients_endpoints_map_t & clients_endpoints()
void endpoint_erase_if_exists(const eprosima::fastrtps::rtps::GUID_t & endpointGuid)
{
std::lock_guard<std::mutex> lock(mutex_);
auto endpoint = clients_endpoints_.find(endpointGuid);
if (endpoint != clients_endpoints_.end()) {
clients_endpoints_.erase(endpoint->second);
clients_endpoints_.erase(endpointGuid);
}
}

void endpoint_add_reader_and_writer(
const eprosima::fastrtps::rtps::GUID_t & readerGuid,
const eprosima::fastrtps::rtps::GUID_t & writerGuid)
{
std::lock_guard<std::mutex> lock(mutex_);
return clients_endpoints_;
clients_endpoints_.emplace(readerGuid, writerGuid);
clients_endpoints_.emplace(writerGuid, readerGuid);
}

private:
Expand All @@ -168,12 +183,7 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
{
(void) sub;
if (eprosima::fastrtps::rtps::REMOVED_MATCHING == matchingInfo.status) {
auto endpoint = info_->pub_listener_->clients_endpoints().find(
matchingInfo.remoteEndpointGuid);
if (endpoint != info_->pub_listener_->clients_endpoints().end()) {
info_->pub_listener_->clients_endpoints().erase(endpoint->second);
info_->pub_listener_->clients_endpoints().erase(matchingInfo.remoteEndpointGuid);
}
info_->pub_listener_->endpoint_erase_if_exists(matchingInfo.remoteEndpointGuid);
}
}

Expand Down Expand Up @@ -202,8 +212,7 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
// Save both guids in the clients_endpoints map
const eprosima::fastrtps::rtps::GUID_t & writer_guid =
request.sample_info_.sample_identity.writer_guid();
info_->pub_listener_->clients_endpoints().emplace(reader_guid, writer_guid);
info_->pub_listener_->clients_endpoints().emplace(writer_guid, reader_guid);
info_->pub_listener_->endpoint_add_reader_and_writer(reader_guid, writer_guid);

std::lock_guard<std::mutex> lock(internalMutex_);

Expand Down