Convert all rcl_*_t types to shared pointers #1
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Converts all rcl_*_t types in the memory allocation strategy to shared pointers to prevent crash happening when a subscriber is reset. Issue: ros2#349
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deng02
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Feb 6, 2018
| @@ -76,15 +76,15 @@ class SubscriptionBase | |||
| get_topic_name() const; | |||
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| RCLCPP_PUBLIC | |||
| rcl_subscription_t * | |||
| std::shared_ptr<rcl_subscription_t> | |||
| get_subscription_handle(); | |||
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These functions make up part of the public API for rclcpp - should we provide any versions that allow return type of rcl_subscription_t* to remain backwards compatible?
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I'll let OSRF decide :)
deng02
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Feb 6, 2018
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ros2#1452) * Copying files from rosbag2 The generic_* files are from rosbag2_transport typesupport_helpers incl. test is from rosbag2_cpp memory_management.hpp is from rosbag2_test_common test_pubsub.cpp was renamed from test_rosbag2_node.cpp from rosbag2_transport Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Rebrand into rclcpp_generic Add package.xml, CMakeLists.txt, Doxyfile, README.md and CHANGELOG.rst Rename namespaces Make GenericPublisher and GenericSubscription self-contained by storing shared library New create() methods that return shared pointers Add docstrings Include only what is needed Make linters & tests pass Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Review feedback * Delete CHANGELOG.rst * Enable cppcheck * Remove all references to rosbag2/ros2bag Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Move rclpp_generic into rclcpp Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Rename namespace rclcpp_generic to rclcpp::generic Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Free 'create' functions instead of static functions in class Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Remove 'generic' subdirectory and namespace hierarchy Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Order includes according to style guide Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Remove extra README.md Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Also add brief to class docs Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Make ament_index_cpp a build_depend Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Add to rclcpp.hpp Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Remove memory_management, use rclcpp::SerializedMessage in GenericPublisher::publish Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Clean up the typesupport_helpers Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Use make_shared, add UnimplementedError Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Add more comments, make member variable private, remove unnecessary include Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Apply suggestions from code review Co-authored-by: William Woodall <william+github@osrfoundation.org> Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Rename test Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Update copyright and remove ament_target_dependencies for test Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Accept PublisherOptions and SubscriptionOptions Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Remove target_include_directories Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Add explanatory comment to SubscriptionBase Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Use kSolibPrefix and kSolibExtension from rcpputils Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Fix downstream build failure by making ament_index_cpp a build_export_depend Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Use path_for_library(), fix documentation nitpicks Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Improve error handling in get_typesupport_handle Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Accept SubscriptionOptions in GenericSubscription Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Make use of PublisherOptions in GenericPublisher Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Document typesupport_helpers Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Improve documentation Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Use std::function instead of function pointer Co-authored-by: William Woodall <william+github@osrfoundation.org> Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Minimize vertical whitespace Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Add TODO for callback with message info Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Link issue in TODO Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai> * Add missing include for functional Signed-off-by: nnmm <nnmmgit@gmail.com> * Fix compilation Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix lint Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Address review comments (#1) * fix redefinition of default template arguments Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * address review comments Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * rename test executable Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * add functionality to lifecycle nodes Signed-off-by: Karsten Knese <Karsten1987@users.noreply.github.com> * Refactor typesupport helpers * Make extract_type_identifier function private * Remove unused extract_type_and_package function * Update unit tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove note about ament from classes This comment only applies to the free functions. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix formatting Co-authored-by: Karsten Knese <Karsten1987@users.noreply.github.com> * Fix warning Possible loss of data from double to rcutils_duration_value_t Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add missing visibility macros Signed-off-by: Jacob Perron <jacob@openrobotics.org> Co-authored-by: William Woodall <william+github@osrfoundation.org> Co-authored-by: Jacob Perron <jacob@openrobotics.org> Co-authored-by: Karsten Knese <Karsten1987@users.noreply.github.com>
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Converts all rcl_*_t types in the memory allocation strategy to shared pointers to prevent crash happening when a subscriber is reset.
Issue: ros2#349