Feature/thread safe async await#21

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iv461 wants to merge 40 commits intomainfrom

feature/thread_safe_async_await

Commits on Feb 20, 2026

T
Ivo Ivanov
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Added TSAN tests
Ivo Ivanov
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TSAN options
Ivo Ivanov
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Added MT tests cases for actions services and TF to test for races with TSAN
Ivo Ivanov
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Now tests pass
Ivo Ivanov
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Fixed testsc
Ivo Ivanov
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Added TSAN ignore rules to supress noise from DDS
Ivo Ivanov
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examples with tran
Ivo Ivanov
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Added TSAN usage doc
Ivo Ivanov
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Compiling without MT support, no data races, added MT exec to examples
Ivo Ivanov
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Successfully created a data race solely using the executor threads and separate reentrant callback groups
Ivo Ivanov
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Changed other tests to use reentrant calback groups to cause races
Ivo Ivanov
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Revert "Changed other tests to use reentrant calback groups to cause races"
Ivo Ivanov
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Commits on Feb 21, 2026

Rewriting the test case myself, so right now we do not have contention anymore and can executore multiple timers from multiple nodes, but the MT executor only uses the main thread ?!
Ivo Ivanov
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Separate
Ivo Ivanov
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Found the issue: spin_once does not properly use the multiple threads
Ivo Ivanov
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Updated examples, notices unclear action examples and another unnecessary occurence of an icey-type that is the same as in rclcpp_action.
Ivo Ivanov
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removed unnecessary typedef in server example
Ivo Ivanov
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Polish language
Ivo Ivanov
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Race test case: Multiple cb groups are of course not necessary, one reentrant suffices
Ivo Ivanov
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Added TSAN CI job
Ivo Ivanov
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Fixed a race on the coroutine state index where the thread that dispatched the async operation and detached the coroutine checks again if this coroutine is finished in it's destructor, while anothe…
Ivo Ivanov
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Fix another race
Ivo Ivanov
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Added missing locking in action client
Ivo Ivanov
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Using lock guards instead of manual locking is actually better because it is exception safe
Ivo Ivanov
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Fixed UAF
Ivo Ivanov
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Fixed another UAF
Ivo Ivanov
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Renamed tests
Ivo Ivanov
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Fix for humble ttest exception: what(): Callback group needs to be associated with executor.
Ivo Ivanov
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Commits on Feb 22, 2026

Commits on Feb 23, 2026

Commits on Feb 27, 2026

Unused headers, added copyright notice
Ivo Ivanov
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