fix(gateway): #153 serialize parameter operations to prevent executor… #154
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Pull request overview
Serializes ConfigurationManager parameter operations to avoid SyncParametersClient executor conflicts under concurrent HTTP requests (fix for #153).
Changes:
- Added a mutex to serialize parameter operations (
list/get/set/reset/reset_all) inConfigurationManager. - Added a regression test that stresses concurrent parameter operations and asserts no executor-conflict exceptions occur.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| src/ros2_medkit_gateway/src/configuration_manager.cpp | Wraps parameter operations with a mutex to prevent concurrent SyncParametersClient spins. |
| src/ros2_medkit_gateway/include/ros2_medkit_gateway/configuration_manager.hpp | Declares the new mutex and documents the rationale. |
| src/ros2_medkit_gateway/test/test_configuration_manager.cpp | Adds a concurrent regression test intended to catch executor-conflict errors. |
src/ros2_medkit_gateway/include/ros2_medkit_gateway/configuration_manager.hpp
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… conflicts SyncParametersClient internally spins param_node_ via spin_node_until_future_complete(), which is not thread-safe. Concurrent HTTP requests would cause: "Node '/_param_client_node' has already been added to an executor" Add mutex to serialize all parameter operations (list, get, set, reset). Add regression test with warm-up to prevent flaky CI failures.
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ROS2 parameters like qos_overrides./parameter_events.publisher.depth contain slashes in their names. cpp-httplib decodes percent-encoded URLs (%2F -> /), so the route regex must use (.+) instead of ([^/]+) to match the full parameter name. This is consistent with the existing pattern for topic routes.
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Pull Request
Summary
serialize parameter operations to prevent executor conflicts
SyncParametersClient internally spins param_node_ via spin_node_until_future_complete(),
which is not thread-safe. Concurrent HTTP requests would cause:
Node /_param_client_node has already been added to an executor
Add recursive_mutex to serialize all parameter operations (list, get, set, reset).
Using recursive_mutex because list_parameters() calls cache_default_values() internally.
Issue
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Type
Testing
How was this tested / how should reviewers verify it?
Checklist