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Fixes in rmw_wait - #895

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miguelcompany/fix-guard-condition-race
Sep 8, 2026
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Fixes in rmw_wait#895
jmachowinski merged 3 commits into
rollingfrom
miguelcompany/fix-guard-condition-race

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@MiguelCompany

@MiguelCompany MiguelCompany commented Jul 8, 2026

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Description

This fixes two things in rmw_wait:

  • A race where a guard condition is triggered while traversing the collection of guard conditions, and is then untriggered during said traversal
  • RMW_RET_TIMEOUT being returned when an element becomes ready after the wait set timed out

Is this user-facing behavior change?

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Additional Information

Related regression test in ros2/rmw_implementation#280

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@jmachowinski

jmachowinski commented Jul 9, 2026

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Pulls: ros2/rmw_implementation#280, #895
Gist: https://gist.githubusercontent.com/jmachowinski/82143d362c43feb12295efa9e4e95af8/raw/8d562eae8818c75dd24bb468cd2f0aa888fdefb2/ros2.repos
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ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19804

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@jmachowinski jmachowinski mentioned this pull request Jul 9, 2026
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@jmachowinski

jmachowinski commented Jul 10, 2026

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Pulls: ros2/rmw_implementation#281, #895
Gist: https://gist.githubusercontent.com/jmachowinski/e73cca6a332608b286a2a14b31a13010/raw/13be0d5cec704199c3c2d78115ee1ad2d76165d8/ros2.repos
BUILD args:
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ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19816

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@jmachowinski jmachowinski mentioned this pull request Jul 10, 2026
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fujitatomoya
fujitatomoya approved these changes Jul 13, 2026
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lgtm

@MiguelCompany
MiguelCompany force-pushed the miguelcompany/fix-guard-condition-race branch from 1ae6a32 to 2fa9876 Compare July 13, 2026 05:51
wjwwood
wjwwood approved these changes Jul 16, 2026
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lgtm

@jmachowinski

jmachowinski commented Jul 17, 2026

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Pulls: ros2/rmw_implementation#281, #895
Gist: https://gist.githubusercontent.com/jmachowinski/864e939dc53d56fcce13715ad11d45c4/raw/13be0d5cec704199c3c2d78115ee1ad2d76165d8/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19889

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@jmachowinski

jmachowinski commented Jul 17, 2026

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Pulls: ros2/rmw_implementation#281, #895
Gist: https://gist.githubusercontent.com/jmachowinski/ed5e2b1be5e3aa69820e965bbad137c5/raw/13be0d5cec704199c3c2d78115ee1ad2d76165d8/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19898

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@jmachowinski jmachowinski mentioned this pull request Aug 31, 2026
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@jmachowinski

jmachowinski commented Sep 4, 2026

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Pulls: #895
Gist: https://gist.githubusercontent.com/jmachowinski/44ce1ac081fb9c4ac4a95463cd9ac09f/raw/1565d2f3063b18356ca6e0bf9690ef20d732178a/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20334

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@jmachowinski

jmachowinski commented Sep 4, 2026

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@MiguelCompany Can you rebase this ?

@MiguelCompany
fix: Fix race condition when untriggering guard conditions.
c6a45f1 
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@MiguelCompany
fix: return RMW_RET_OK whenever an active element is returned
ff24d37 
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@MiguelCompany
style: uncrustify
6460ae6 
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@MiguelCompany
MiguelCompany force-pushed the miguelcompany/fix-guard-condition-race branch from 2fa9876 to 6460ae6 Compare September 7, 2026 06:07
@MiguelCompany

MiguelCompany commented Sep 7, 2026

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@MiguelCompany Can you rebase this ?

done

@jmachowinski

jmachowinski commented Sep 7, 2026

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thx

@jmachowinski

jmachowinski commented Sep 7, 2026 •
edited by ahcorde
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Pulls: #895
Gist: https://gist.githubusercontent.com/jmachowinski/7c07770b123c9740cf92a1e259c619b0/raw/1565d2f3063b18356ca6e0bf9690ef20d732178a/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20347

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@jmachowinski
jmachowinski merged commit 83471d4 into rolling Sep 8, 2026
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@jmachowinski

jmachowinski commented Sep 8, 2026

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@Mergifyio backport lyrical kilted jazzy humble

@mergify

mergify Bot commented Sep 8, 2026 •
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backport lyrical kilted jazzy humble

✅ Backports have been created

Details

This was referenced Sep 8, 2026
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@ahcorde
ahcorde deleted the miguelcompany/fix-guard-condition-race branch September 8, 2026 21:21
jmachowinski pushed a commit that referenced this pull request Sep 10, 2026
@mergify @MiguelCompany
Fixes in rmw_wait (#895) (#915)
c6c185e 
* fix: Fix race condition when untriggering guard conditions.



* fix: return `RMW_RET_OK` whenever an active element is returned



* style: uncrustify



---------


(cherry picked from commit 83471d4)

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
Co-authored-by: Miguel Company <miguelcompany@eprosima.com>
jmachowinski pushed a commit that referenced this pull request Sep 10, 2026
@mergify @MiguelCompany
Fixes in rmw_wait (#895) (#916)
2fa7900 
* fix: Fix race condition when untriggering guard conditions.



* fix: return `RMW_RET_OK` whenever an active element is returned



* style: uncrustify



---------


(cherry picked from commit 83471d4)

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
Co-authored-by: Miguel Company <miguelcompany@eprosima.com>
jmachowinski pushed a commit that referenced this pull request Sep 10, 2026
@mergify @MiguelCompany
Fixes in rmw_wait (#895) (#917)
eb2b49a 
* fix: Fix race condition when untriggering guard conditions.



* fix: return `RMW_RET_OK` whenever an active element is returned



* style: uncrustify



---------


(cherry picked from commit 83471d4)

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
Co-authored-by: Miguel Company <miguelcompany@eprosima.com>
jmachowinski pushed a commit that referenced this pull request Sep 18, 2026
@mergify @MiguelCompany
Fixes in rmw_wait (backport #895) (#918)
da0c2d3 
* Fixes in `rmw_wait` (#895)

* fix: Fix race condition when untriggering guard conditions.

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

* fix: return `RMW_RET_OK` whenever an active element is returned

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

* style: uncrustify

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

---------

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
(cherry picked from commit 83471d4)

* Handle wait_result

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

* Fix build

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

---------

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
Co-authored-by: Miguel Company <miguelcompany@eprosima.com>
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@wjwwood wjwwood wjwwood approved these changes
@jmachowinski jmachowinski jmachowinski approved these changes
@fujitatomoya fujitatomoya fujitatomoya approved these changes

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