Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fixed GIL release issue with Python System and Python TestFixture. #2618

Merged
merged 13 commits into from
Feb 22, 2025
Merged

Fixed GIL release issue with Python System and Python TestFixture. #2618

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
13 commits
Select commit Hold shift + click to select a range
29598fd
Fixed GIL release issue with Python System and Python TestFixture. Si…
AmalDevHaridevan Sep 11, 2024
334b432
Update python/test/python_system_TEST.py
AmalDevHaridevan Sep 12, 2024
8aff92f
Update python_system_TEST.py
AmalDevHaridevan Sep 12, 2024
9df6542
Update gravity.sdf
AmalDevHaridevan Sep 12, 2024
ccf90c5
Merge branch 'gz-sim9' into Amal-python-system-GIL
AmalDevHaridevan Sep 12, 2024
1d01094
Merge branch 'gz-sim9' into Amal-python-system-GIL
AmalDevHaridevan Sep 14, 2024
26f69d8
Merge branch 'gz-sim9' into Amal-python-system-GIL
AmalDevHaridevan Sep 20, 2024
b5f7862
Merge branch 'gz-sim9' into Amal-python-system-GIL
AmalDevHaridevan Dec 11, 2024
33ca702
Added gil acquire to Configure, Destructor, and Reset methods. Also u…
AmalDevHaridevan Feb 7, 2025
51153a0
Merge branch 'gz-sim9' into Amal-python-system-GIL
AmalDevHaridevan Feb 7, 2025
d5b86ae
Removed python_system_TEST.py
AmalDevHaridevan Feb 8, 2025
46ac9be
Merge branch 'Amal-python-system-GIL' of https://github.com/AmalDevHa…
AmalDevHaridevan Feb 8, 2025
8308a35
Merge branch 'gz-sim9' into Amal-python-system-GIL
azeey Feb 21, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions python/test/gravity.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,11 @@
<mass>1.0</mass>
</inertial>
</link>
<plugin filename="gz-sim-python-system-loader-system"
name="gz::sim::systems::PythonSystemLoader">
<module_name>plugins.test_model_system</module_name>
</plugin>
</model>

</world>
</sdf>
8 changes: 8 additions & 0 deletions src/systems/python_system_loader/PythonSystemLoader.cc
View file
Open in desktop
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think need more py::gil_scoped_acquire gil; calls in PythonSystemLoader::Configure, PythonSystemLoader::Reset(), and PythonSystemLoader::~PythonSystemLoader(). Basically, all System interfaces since they will be accessing python state.

Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ PythonSystemLoader::~PythonSystemLoader()
{
if (this->pythonSystem)
{
py::gil_scoped_acquire gil;
if (py::hasattr(this->pythonSystem, "shutdown"))
{
this->pythonSystem.attr("shutdown")();
Expand All @@ -54,6 +55,7 @@ void PythonSystemLoader::Configure(
const Entity &_entity, const std::shared_ptr<const sdf::Element> &_sdf,
EntityComponentManager &_ecm, EventManager &_eventMgr)
{
py::gil_scoped_acquire gil;
auto [moduleName, hasModule] = _sdf->Get<std::string>("module_name", "");
if (!hasModule)
{
Expand Down Expand Up @@ -194,13 +196,18 @@ void PythonSystemLoader::CallPythonMethod(py::object _method, Args &&..._args)
void PythonSystemLoader::PreUpdate(const UpdateInfo &_info,
EntityComponentManager &_ecm)
{
// Add explicit scoped acquire and release of GIL, so that Python
// Systems can be executed.This acquire and release is only required
// from the PythonSystem code
py::gil_scoped_acquire gil;
CallPythonMethod(this->preUpdateMethod, _info, &_ecm);
}

//////////////////////////////////////////////////
void PythonSystemLoader::Update(const UpdateInfo &_info,
EntityComponentManager &_ecm)
{
py::gil_scoped_acquire gil;
CallPythonMethod(this->updateMethod, _info, &_ecm);
}

Expand All @@ -215,6 +222,7 @@ void PythonSystemLoader::PostUpdate(const UpdateInfo &_info,
void PythonSystemLoader::Reset(const UpdateInfo &_info,
EntityComponentManager &_ecm)
{
py::gil_scoped_acquire gil;
CallPythonMethod(this->resetMethod, _info, &_ecm);
}

Expand Down