[EK-30] Fix TOCTTOU race in SingleGoalMultipleActionServers implementation
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Signed-off-by: Michel Hidalgo <[email protected]>
mhidalgo-bdai
requested review from
jbarry-bdai and
amessing-bdai
as code owners
Signed-off-by: Michel Hidalgo <[email protected]>
| func: typing.Optional[typing.Callable] = None, | ||
| lock: typing.Optional[threading.Lock] = None, | ||
| ) -> typing.Callable: | ||
| """Wraps `func` to synchronize invocations, optionally taking a user defined `lock`.""" |
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Can you add to the docstring the use case for func being None?
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Sure thing. Done in a924c85
amessing-bdai
approved these changes
Mar 19, 2024
Signed-off-by: Michel Hidalgo <[email protected]>
amessing-bdai
approved these changes
Mar 19, 2024
Signed-off-by: Michel Hidalgo <[email protected]>
|
Argh, there was a race in the tests. It is fixed now. PTAL ! |
Signed-off-by: Michel Hidalgo <[email protected]>
| @@ -22,25 +23,31 @@ def __init__( | |||
| self, | |||
| node: Node, | |||
| action_server_parameters: List[Tuple[ActionType, str, Callable, Optional[CallbackGroup]]], | |||
| nosync: bool = False, | |||
| ) -> None: | |||
| """Constructor""" | |||
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Can you update the docstring with when you would want to set nosync to True?
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Done in 224a408.
Signed-off-by: Michel Hidalgo <[email protected]>
mhidalgo-bdai
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Precisely what the title says. This patch prevents race conditions when enforcing multiple actions managed by a single
SingleGoalMultipleActionServersinstance are mutually exclusive. It also migrates to cancellation rather than abortion for goal preemption.