Fix lock order inversion between GraphListener and Context (ABI compatible backport) - #3239
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skyegalaxy wants to merge 1 commit into
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Fix lock order inversion between GraphListener and Context (ABI compatible backport)#3239skyegalaxy wants to merge 1 commit into
skyegalaxy wants to merge 1 commit into
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Signed-off-by: Skyler Medeiros <skye@polymathrobotics.com>
ahcorde
approved these changes
Aug 27, 2026
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Pulls: #3239
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Pulls: #3239
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Description
Avoids inverting lock order between
GraphListener::start_if_not_started()andContext::shutdown()by registering theon_shutdown_callbackbefore acquiringshutdown_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, throwGraphListenerShutdownError.)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