feat: add mutex around step callback

.devcontainer/devcontainer.json

@@ -18,8 +18,7 @@
         "ms-vscode.cpptools-extension-pack",
         "ms-python.pylint",
         "ms-python.autopep8",
-        "ms-python.isort",
-        "eamodio.gitlens"
+        "ms-python.isort"
       ]
     }
   }

CHANGELOG.md

@@ -13,7 +13,8 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
--  chore: fix links in readme (#68)
+- chore: fix links in readme (#68)
+- feat: add mutex around step callback (#67)
 
 ## 4.0.0
 

source/modulo_components/include/modulo_components/ComponentInterface.hpp

@@ -58,9 +58,9 @@ class ComponentInterface {
   friend class ComponentInterfacePublicInterface;
 
   /**
-   * @brief Virtual default destructor.
+   * @brief Destructor
    */
-  virtual ~ComponentInterface() = default;
+  ~ComponentInterface();
 
 protected:
   /**
@@ -536,6 +536,8 @@ class ComponentInterface {
       const tf2::Duration& duration
   );
 
+  std::mutex step_mutex_; ///< Mutex for step callback
+
   std::map<std::string, utilities::PredicateVariant> predicates_; ///< Map of predicates
   std::shared_ptr<rclcpp::Publisher<modulo_component_interfaces::msg::Predicate>>
       predicate_publisher_; ///< Predicate publisher

source/modulo_components/src/ComponentInterface.cpp

@@ -37,7 +37,16 @@ ComponentInterface::ComponentInterface(
 
   this->step_timer_ = rclcpp::create_wall_timer(
       std::chrono::nanoseconds(static_cast<int64_t>(this->get_parameter_value<double>("period") * 1e9)),
-      [this] { this->step(); }, nullptr, this->node_base_.get(), this->node_timers_.get());
+      [this] {
+        std::unique_lock<std::mutex> lock(this->step_mutex_, std::try_to_lock);
+        this->step();
+        this->step_mutex_.unlock();
+      },
+      nullptr, this->node_base_.get(), this->node_timers_.get());
+}
+
+ComponentInterface::~ComponentInterface() {
+  std::lock_guard<std::mutex> lock(this->step_mutex_);
 }
 
 void ComponentInterface::step() {}