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Fix O(N^2) entity addition in CallbackGroup #3109

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Fix O(N^2) entity addition in CallbackGroup #3109

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b2586d0
Fix O(N²) entity addition in CallbackGroup
PavelGuzenfeld Mar 23, 2026
539375e
Add integration tests for CallbackGroup entity cleanup
PavelGuzenfeld Mar 23, 2026
98e7db3
Address review: remove mutable, use remove_if, fix style
PavelGuzenfeld Mar 23, 2026
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/callback_group.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -183,7 +183,7 @@ class CallbackGroup
const std::function<void(const rclcpp::ServiceBase::SharedPtr &)> & service_func,
const std::function<void(const rclcpp::ClientBase::SharedPtr &)> & client_func,
const std::function<void(const rclcpp::TimerBase::SharedPtr &)> & timer_func,
const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func) const;
const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func);

/// Return a reference to the 'associated with executor' atomic boolean.
/**
Expand Down
77 changes: 36 additions & 41 deletions rclcpp/src/rclcpp/callback_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,44 +73,69 @@ void CallbackGroup::collect_all_ptrs(
const std::function<void(const rclcpp::ServiceBase::SharedPtr &)> & service_func,
const std::function<void(const rclcpp::ClientBase::SharedPtr &)> & client_func,
const std::function<void(const rclcpp::TimerBase::SharedPtr &)> & timer_func,
const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func) const
const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func)
{
std::lock_guard<std::mutex> lock(mutex_);

for (const rclcpp::SubscriptionBase::WeakPtr & weak_ptr : subscription_ptrs_) {
rclcpp::SubscriptionBase::SharedPtr ref_ptr = weak_ptr.lock();
for (const auto & weak_ptr : subscription_ptrs_) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr) {
sub_func(ref_ptr);
}
}
subscription_ptrs_.erase(
std::remove_if(
subscription_ptrs_.begin(), subscription_ptrs_.end(),
[](const auto & w) {return w.expired();}),
subscription_ptrs_.end());

for (const rclcpp::ServiceBase::WeakPtr & weak_ptr : service_ptrs_) {
rclcpp::ServiceBase::SharedPtr ref_ptr = weak_ptr.lock();
for (const auto & weak_ptr : service_ptrs_) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr) {
service_func(ref_ptr);
}
}
service_ptrs_.erase(
std::remove_if(
service_ptrs_.begin(), service_ptrs_.end(),
[](const auto & w) {return w.expired();}),
service_ptrs_.end());

for (const rclcpp::ClientBase::WeakPtr & weak_ptr : client_ptrs_) {
rclcpp::ClientBase::SharedPtr ref_ptr = weak_ptr.lock();
for (const auto & weak_ptr : client_ptrs_) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr) {
client_func(ref_ptr);
}
}
client_ptrs_.erase(
std::remove_if(
client_ptrs_.begin(), client_ptrs_.end(),
[](const auto & w) {return w.expired();}),
client_ptrs_.end());

for (const rclcpp::TimerBase::WeakPtr & weak_ptr : timer_ptrs_) {
rclcpp::TimerBase::SharedPtr ref_ptr = weak_ptr.lock();
for (const auto & weak_ptr : timer_ptrs_) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr) {
timer_func(ref_ptr);
}
}
timer_ptrs_.erase(
std::remove_if(
timer_ptrs_.begin(), timer_ptrs_.end(),
[](const auto & w) {return w.expired();}),
timer_ptrs_.end());

for (const rclcpp::Waitable::WeakPtr & weak_ptr : waitable_ptrs_) {
rclcpp::Waitable::SharedPtr ref_ptr = weak_ptr.lock();
for (const auto & weak_ptr : waitable_ptrs_) {
auto ref_ptr = weak_ptr.lock();
if (ref_ptr) {
waitable_func(ref_ptr);
}
}
waitable_ptrs_.erase(
std::remove_if(
waitable_ptrs_.begin(), waitable_ptrs_.end(),
[](const auto & w) {return w.expired();}),
waitable_ptrs_.end());
}

std::atomic_bool &
Expand Down Expand Up @@ -154,64 +179,34 @@ CallbackGroup::add_subscription(
{
std::lock_guard<std::mutex> lock(mutex_);
subscription_ptrs_.push_back(subscription_ptr);
subscription_ptrs_.erase(
std::remove_if(
subscription_ptrs_.begin(),
subscription_ptrs_.end(),
[](const rclcpp::SubscriptionBase::WeakPtr & x) {return x.expired();}),
subscription_ptrs_.end());
}

void
CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr & timer_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
timer_ptrs_.push_back(timer_ptr);
timer_ptrs_.erase(
std::remove_if(
timer_ptrs_.begin(),
timer_ptrs_.end(),
[](const rclcpp::TimerBase::WeakPtr & x) {return x.expired();}),
timer_ptrs_.end());
}

void
CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr & service_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
service_ptrs_.push_back(service_ptr);
service_ptrs_.erase(
std::remove_if(
service_ptrs_.begin(),
service_ptrs_.end(),
[](const rclcpp::ServiceBase::WeakPtr & x) {return x.expired();}),
service_ptrs_.end());
}

void
CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr & client_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
client_ptrs_.push_back(client_ptr);
client_ptrs_.erase(
std::remove_if(
client_ptrs_.begin(),
client_ptrs_.end(),
[](const rclcpp::ClientBase::WeakPtr & x) {return x.expired();}),
client_ptrs_.end());
}

void
CallbackGroup::add_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr)
{
std::lock_guard<std::mutex> lock(mutex_);
waitable_ptrs_.push_back(waitable_ptr);
waitable_ptrs_.erase(
std::remove_if(
waitable_ptrs_.begin(),
waitable_ptrs_.end(),
[](const rclcpp::Waitable::WeakPtr & x) {return x.expired();}),
waitable_ptrs_.end());
}

void
Expand Down
5 changes: 4 additions & 1 deletion rclcpp/test/rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,10 @@ if(TARGET test_exceptions)
target_link_libraries(test_exceptions ${PROJECT_NAME} mimick)
endif()

ament_add_ros_isolated_gtest(test_callback_group_entity_cleanup test_callback_group_entity_cleanup.cpp)
if(TARGET test_callback_group_entity_cleanup)
target_link_libraries(test_callback_group_entity_cleanup ${PROJECT_NAME} ${test_msgs_TARGETS})
endif()
ament_add_ros_isolated_gtest(test_allocator_memory_strategy strategies/test_allocator_memory_strategy.cpp)
if(TARGET test_allocator_memory_strategy)
target_link_libraries(test_allocator_memory_strategy ${PROJECT_NAME} rcpputils::rcpputils ${test_msgs_TARGETS})
Expand Down Expand Up @@ -438,7 +442,6 @@ ament_add_ros_isolated_gtest(test_time_source test_time_source.cpp
if(TARGET test_time_source)
target_link_libraries(test_time_source ${PROJECT_NAME} rcl::rcl)
endif()

ament_add_ros_isolated_gtest(test_utilities test_utilities.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
ament_add_test_label(test_utilities mimick)
Expand Down
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