Fix lock order inversion between GraphListener and Context (ABI compatible backport) (backport #3239) - #3241
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Fix lock order inversion between GraphListener and Context (ABI compatible backport) (backport #3239)#3241mergify[bot] wants to merge 1 commit into
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Signed-off-by: Skyler Medeiros <skye@polymathrobotics.com> Co-authored-by: Skyler Medeiros <skye@polymathrobotics.com> (cherry picked from commit efb669e)
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Pulls: #3241
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Description
Avoids inverting lock order between GraphListener::start_if_not_started() and Context::shutdown() by registering the on_shutdown_callback before acquiring shutdown_mutex_. To avoid duplicate callback registration, a check has been added such that the shutdown callback is de-registered if this thread wasn't the one that started the graph listener (or, if shutting down, throw GraphListenerShutdownError.)
Tested against my jazzy container with my reproducing example from #2946. The diff ought to cleanly apply to kilted and humble as well.
Fixes #2946 / #3232 for humble / jazzy / kilted
Is this user-facing behavior change?
no
Did you use Generative AI?
Claude Fable 5
Additional Information
This is an automatic backport of pull request #3239 done by [Mergify](https://mergify.com).