Fixes Action.*_async futures never complete (#1308)

Per rclpy:1123 If two seperate client server actions are running in seperate executors the future given to the ActionClient will never complete due to a race condition
This fixes  the calls to rcl handles potentially leading to deadlock scenarios by adding locks to there references
Co-authored-by: Aditya Agarwal <[email protected]>
Co-authored-by: Jonathan Blixt <[email protected]>
Signed-off-by: Jonathan Blixt <[email protected]>

Co-authored-by: Alejandro Hernandez Cordero <[email protected]>
(cherry picked from commit 10f70c9)

# Conflicts:
#	rclpy/rclpy/action/client.py
#	rclpy/rclpy/action/server.py

Author: jmblixt3

rclpy/rclpy/action/client.py

@@ -181,6 +181,11 @@ def __init__(
         callback_group.add_entity(self)
         self._node.add_waitable(self)
 
+<<<<<<< HEAD
+=======
+        self._lock = threading.Lock()
+
+>>>>>>> 10f70c9 (Fixes Action.*_async futures never complete (#1308))
     def _generate_random_uuid(self):
         return UUID(uuid=list(uuid.uuid4().bytes))
 
@@ -240,6 +245,7 @@ def take_data(self):
         """Take stuff from lower level so the wait set doesn't immediately wake again."""
         data = {}
         if self._is_goal_response_ready:
+<<<<<<< HEAD
             taken_data = self._client_handle.take_goal_response(
                 self._action_type.Impl.SendGoalService.Response)
             # If take fails, then we get (None, None)
@@ -273,6 +279,46 @@ def take_data(self):
             # If take fails, then we get None
             if taken_data is not None:
                 data['status'] = taken_data
+=======
+            with self._lock:
+                taken_goal_data = self._client_handle.take_goal_response(
+                    self._action_type.Impl.SendGoalService.Response)
+                # If take fails, then we get (None, None)
+                if taken_goal_data[0]:
+                    data['goal'] = taken_goal_data
+
+        if self._is_cancel_response_ready:
+            with self._lock:
+                taken_cancel_data = self._client_handle.take_cancel_response(
+                    self._action_type.Impl.CancelGoalService.Response)
+                # If take fails, then we get (None, None)
+                if taken_cancel_data[0]:
+                    data['cancel'] = taken_cancel_data
+
+        if self._is_result_response_ready:
+            with self._lock:
+                taken_result_data = self._client_handle.take_result_response(
+                    self._action_type.Impl.GetResultService.Response)
+                # If take fails, then we get (None, None)
+                if taken_result_data[0]:
+                    data['result'] = taken_result_data
+
+        if self._is_feedback_ready:
+            with self._lock:
+                taken_feedback_data = self._client_handle.take_feedback(
+                    self._action_type.Impl.FeedbackMessage)
+                # If take fails, then we get None
+                if taken_feedback_data is not None:
+                    data['feedback'] = taken_feedback_data
+
+        if self._is_status_ready:
+            with self._lock:
+                taken_status_data = self._client_handle.take_status(
+                    self._action_type.Impl.GoalStatusMessage)
+                # If take fails, then we get None
+                if taken_status_data is not None:
+                    data['status'] = taken_status_data
+>>>>>>> 10f70c9 (Fixes Action.*_async futures never complete (#1308))
 
         return data
 
@@ -353,12 +399,14 @@ async def execute(self, taken_data):
 
     def get_num_entities(self):
         """Return number of each type of entity used in the wait set."""
-        num_entities = self._client_handle.get_num_entities()
+        with self._lock:
+            num_entities = self._client_handle.get_num_entities()
         return NumberOfEntities(*num_entities)
 
     def add_to_wait_set(self, wait_set):
         """Add entities to wait set."""
-        self._client_handle.add_to_waitset(wait_set)
+        with self._lock:
+            self._client_handle.add_to_waitset(wait_set)
 
     def __enter__(self):
         return self._client_handle.__enter__()
@@ -436,10 +484,17 @@ def send_goal_async(self, goal, feedback_callback=None, goal_uuid=None):
         request = self._action_type.Impl.SendGoalService.Request()
         request.goal_id = self._generate_random_uuid() if goal_uuid is None else goal_uuid
         request.goal = goal
-        sequence_number = self._client_handle.send_goal_request(request)
-        if sequence_number in self._pending_goal_requests:
-            raise RuntimeError(
-                'Sequence ({}) conflicts with pending goal request'.format(sequence_number))
+        future = Future()
+        with self._lock:
+            sequence_number = self._client_handle.send_goal_request(request)
+            if sequence_number in self._pending_goal_requests:
+                raise RuntimeError(
+                    'Sequence ({}) conflicts with pending goal request'.format(sequence_number))
+            self._pending_goal_requests[sequence_number] = future
+            self._goal_sequence_number_to_goal_id[sequence_number] = request.goal_id
+            future.add_done_callback(self._remove_pending_goal_request)
+            # Add future so executor is aware
+            self.add_future(future)
 
         if feedback_callback is not None:
             # TODO(jacobperron): Move conversion function to a general-use package
@@ -494,6 +549,7 @@ def _cancel_goal_async(self, goal_handle):
 
         cancel_request = CancelGoal.Request()
         cancel_request.goal_info.goal_id = goal_handle.goal_id
+<<<<<<< HEAD
         sequence_number = self._client_handle.send_cancel_request(cancel_request)
         if sequence_number in self._pending_cancel_requests:
             raise RuntimeError(
@@ -504,6 +560,19 @@ def _cancel_goal_async(self, goal_handle):
         future.add_done_callback(self._remove_pending_cancel_request)
         # Add future so executor is aware
         self.add_future(future)
+=======
+        future: Future[CancelGoal.Response] = Future()
+        with self._lock:
+            sequence_number = self._client_handle.send_cancel_request(cancel_request)
+            if sequence_number in self._pending_cancel_requests:
+                raise RuntimeError(
+                    'Sequence ({}) conflicts with pending cancel request'.format(sequence_number))
+
+            self._pending_cancel_requests[sequence_number] = future
+            future.add_done_callback(self._remove_pending_cancel_request)
+            # Add future so executor is aware
+            self.add_future(future)
+>>>>>>> 10f70c9 (Fixes Action.*_async futures never complete (#1308))
 
         return future
 
@@ -546,6 +615,7 @@ def _get_result_async(self, goal_handle):
 
         result_request = self._action_type.Impl.GetResultService.Request()
         result_request.goal_id = goal_handle.goal_id
+<<<<<<< HEAD
         sequence_number = self._client_handle.send_result_request(result_request)
         if sequence_number in self._pending_result_requests:
             raise RuntimeError(
@@ -557,6 +627,20 @@ def _get_result_async(self, goal_handle):
         future.add_done_callback(self._remove_pending_result_request)
         # Add future so executor is aware
         self.add_future(future)
+=======
+        future: Future[GetResultServiceResponse[ResultT]] = Future()
+        with self._lock:
+            sequence_number = self._client_handle.send_result_request(result_request)
+            if sequence_number in self._pending_result_requests:
+                raise RuntimeError(
+                    'Sequence ({}) conflicts with pending result request'.format(sequence_number))
+
+            self._pending_result_requests[sequence_number] = future
+            self._result_sequence_number_to_goal_id[sequence_number] = result_request.goal_id
+            future.add_done_callback(self._remove_pending_result_request)
+            # Add future so executor is aware
+            self.add_future(future)
+>>>>>>> 10f70c9 (Fixes Action.*_async futures never complete (#1308))
 
         return future
 

rclpy/rclpy/action/server.py

@@ -309,7 +309,8 @@ async def _execute_goal_request(self, request_header_and_message):
         try:
             # If the client goes away anytime before this, sending the goal response may fail.
             # Catch the exception here and go on so we don't crash.
-            self._handle.send_goal_response(request_header, response_msg)
+            with self._lock:
+                self._handle.send_goal_response(request_header, response_msg)
         except RCLError:
             self._node.get_logger().warn(
                 'Failed to send goal response (the client may have gone away)')
@@ -393,7 +394,8 @@ async def _execute_cancel_request(self, request_header_and_message):
         try:
             # If the client goes away anytime before this, sending the goal response may fail.
             # Catch the exception here and go on so we don't crash.
-            self._handle.send_cancel_response(request_header, cancel_response)
+            with self._lock:
+                self._handle.send_cancel_response(request_header, cancel_response)
         except RCLError:
             self._node.get_logger().warn(
                 'Failed to send cancel response (the client may have gone away)')
@@ -411,7 +413,8 @@ async def _execute_get_result_request(self, request_header_and_message):
                 'Sending result response for unknown goal ID: {0}'.format(goal_uuid))
             result_response = self._action_type.Impl.GetResultService.Response()
             result_response.status = GoalStatus.STATUS_UNKNOWN
-            self._handle.send_result_response(request_header, result_response)
+            with self._lock:
+                self._handle.send_result_response(request_header, result_response)
             return
 
         # There is an accepted goal matching the goal ID, register a callback to send the
@@ -431,7 +434,14 @@ def _send_result_response(self, request_header, future):
         try:
             # If the client goes away anytime before this, sending the result response may fail.
             # Catch the exception here and go on so we don't crash.
+<<<<<<< HEAD
             self._handle.send_result_response(request_header, future.result())
+=======
+            result = future.result()
+            if result:
+                with self._lock:
+                    self._handle.send_result_response(request_header, result)
+>>>>>>> 10f70c9 (Fixes Action.*_async futures never complete (#1308))
         except RCLError:
             self._node.get_logger().warn(
                 'Failed to send result response (the client may have gone away)')
@@ -508,7 +518,8 @@ async def execute(self, taken_data):
 
     def get_num_entities(self):
         """Return number of each type of entity used in the wait set."""
-        num_entities = self._handle.get_num_entities()
+        with self._lock:
+            num_entities = self._handle.get_num_entities()
         return NumberOfEntities(
             num_entities[0],
             num_entities[1],