Support users holding onto shared pointers in the message memory pool (…

…#2336)

* Support users holding onto shared pointers in the message memory pool

Before this commit, the MessageMemoryPool would actually
reuse messages in the pool, even if the user had taken
additional shared_ptr copies.

This commit fixes things so that we properly handle that situation.  In particular, 
we allocate memory during class initialization, and delete
it during destruction.  We then run the constructor when
we hand the pointer out, and the destructor (only) when
we return it to the pool.  This keeps things consistent.
We also add in locks, since in a multi-threaded scenario we need
to protect against multiple threads accessing the pool
at the same time.

With this in place, things work as expected when users hold
shared_ptr copies.  We also add in a test for this situation.

One note about performance: this update preserves the
"no-allocations-at-runtime" aspect of the MessagePool.  However,
there are some tradeoffs with CPU time here, particularly with
very large message pools.  This could probably be optimized
further to do less work when trying to add items back to the
free_list, but I view that as a further enhancement.

Signed-off-by: Chris Lalancette <[email protected]>

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -15,10 +15,17 @@
 #ifndef RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 #define RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 
+#include <array>
+#include <cstring>
 #include <memory>
+#include <mutex>
+#include <stdexcept>
+#include <type_traits>
 
 #include "rosidl_runtime_cpp/traits.hpp"
 
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -50,13 +57,24 @@ class MessagePoolMemoryStrategy
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MessagePoolMemoryStrategy)
 
-  /// Default constructor
   MessagePoolMemoryStrategy()
-  : next_array_index_(0)
   {
+    pool_mutex_ = std::make_shared<std::mutex>();
+
+    pool_ = std::shared_ptr<std::array<MessageT *, Size>>(
+      new std::array<MessageT *, Size>,
+      [](std::array<MessageT *, Size> * arr) {
+        for (size_t i = 0; i < Size; ++i) {
+          free((*arr)[i]);
+        }
+        delete arr;
+      });
+
+    free_list_ = std::make_shared<CircularArray<Size>>();
+
     for (size_t i = 0; i < Size; ++i) {
-      pool_[i].msg_ptr_ = std::make_shared<MessageT>();
-      pool_[i].used = false;
+      (*pool_)[i] = static_cast<MessageT *>(malloc(sizeof(MessageT)));
+      free_list_->push_back(i);
     }
   }
 
@@ -68,43 +86,85 @@ class MessagePoolMemoryStrategy
    */
   std::shared_ptr<MessageT> borrow_message()
   {
-    size_t current_index = next_array_index_;
-    next_array_index_ = (next_array_index_ + 1) % Size;
-    if (pool_[current_index].used) {
-      throw std::runtime_error("Tried to access message that was still in use! Abort.");
+    std::lock_guard<std::mutex> lock(*pool_mutex_);
+    if (free_list_->size() == 0) {
+      throw std::runtime_error("No more free slots in the pool");
     }
-    pool_[current_index].msg_ptr_->~MessageT();
-    new (pool_[current_index].msg_ptr_.get())MessageT;
 
-    pool_[current_index].used = true;
-    return pool_[current_index].msg_ptr_;
+    size_t current_index = free_list_->pop_front();
+
+    return std::shared_ptr<MessageT>(
+      new((*pool_)[current_index]) MessageT(),
+      [pool = this->pool_, pool_mutex = this->pool_mutex_,
+      free_list = this->free_list_](MessageT * p) {
+        std::lock_guard<std::mutex> lock(*pool_mutex);
+        for (size_t i = 0; i < Size; ++i) {
+          if ((*pool)[i] == p) {
+            p->~MessageT();
+            free_list->push_back(i);
+            break;
+          }
+        }
+      });
   }
 
   /// Return a message to the message pool.
   /**
-   * Manage metadata in the message pool ring buffer to release the message.
+   * This does nothing since the message isn't returned to the pool until the user has dropped
+   * all references.
    * \param[in] msg Shared pointer to the message to return.
    */
   void return_message(std::shared_ptr<MessageT> & msg)
   {
-    for (size_t i = 0; i < Size; ++i) {
-      if (pool_[i].msg_ptr_ == msg) {
-        pool_[i].used = false;
-        return;
-      }
-    }
-    throw std::runtime_error("Unrecognized message ptr in return_message.");
+    (void)msg;
   }
 
 protected:
-  struct PoolMember
+  template<size_t N>
+  class CircularArray
   {
-    std::shared_ptr<MessageT> msg_ptr_;
-    bool used;
+public:
+    void push_back(const size_t v)
+    {
+      if (size_ + 1 > N) {
+        throw std::runtime_error("Tried to push too many items into the array");
+      }
+      array_[(front_ + size_) % N] = v;
+      ++size_;
+    }
+
+    size_t pop_front()
+    {
+      if (size_ < 1) {
+        throw std::runtime_error("Tried to pop item from empty array");
+      }
+
+      size_t val = array_[front_];
+
+      front_ = (front_ + 1) % N;
+      --size_;
+
+      return val;
+    }
+
+    size_t size() const
+    {
+      return size_;
+    }
+
+private:
+    size_t front_ = 0;
+    size_t size_ = 0;
+    std::array<size_t, N> array_;
   };
 
-  std::array<PoolMember, Size> pool_;
-  size_t next_array_index_;
+  // It's very important that these are shared_ptrs, since users of this class might hold a
+  // reference to a pool item longer than the lifetime of the class.  In that scenario, the
+  // shared_ptr ensures that the lifetime of these variables outlives this class, and hence ensures
+  // the custom destructor for each pool item can successfully run.
+  std::shared_ptr<std::mutex> pool_mutex_;
+  std::shared_ptr<std::array<MessageT *, Size>> pool_;
+  std::shared_ptr<CircularArray<Size>> free_list_;
 };
 
 }  // namespace message_pool_memory_strategy

rclcpp/test/rclcpp/strategies/test_message_pool_memory_strategy.cpp

@@ -56,18 +56,28 @@ TEST_F(TestMessagePoolMemoryStrategy, borrow_too_many) {
   // Size is 1, borrowing second time should fail
   RCLCPP_EXPECT_THROW_EQ(
     message_memory_strategy_->borrow_message(),
-    std::runtime_error("Tried to access message that was still in use! Abort."));
+    std::runtime_error("No more free slots in the pool"));
   EXPECT_NO_THROW(message_memory_strategy_->return_message(message));
 }
 
-TEST_F(TestMessagePoolMemoryStrategy, return_unrecognized) {
-  auto message = message_memory_strategy_->borrow_message();
-  ASSERT_NE(nullptr, message);
+TEST_F(TestMessagePoolMemoryStrategy, borrow_hold_reference) {
+  {
+    auto message = message_memory_strategy_->borrow_message();
+    ASSERT_NE(nullptr, message);
 
-  auto unrecognized = std::make_shared<test_msgs::msg::Empty>();
-  // Unrecognized does not belong to pool
-  RCLCPP_EXPECT_THROW_EQ(
-    message_memory_strategy_->return_message(unrecognized),
-    std::runtime_error("Unrecognized message ptr in return_message."));
-  EXPECT_NO_THROW(message_memory_strategy_->return_message(message));
+    // Return it.
+    EXPECT_NO_THROW(message_memory_strategy_->return_message(message));
+
+    // But we are still holding the reference, so we expect that there is still no room in the pool.
+    RCLCPP_EXPECT_THROW_EQ(
+      message_memory_strategy_->borrow_message(),
+      std::runtime_error("No more free slots in the pool"));
+  }
+
+  // Now that we've dropped the reference (left the scope), we expect to be able to borrow again.
+
+  auto message2 = message_memory_strategy_->borrow_message();
+  ASSERT_NE(nullptr, message2);
+
+  EXPECT_NO_THROW(message_memory_strategy_->return_message(message2));
 }