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Fixed deadlock in skills closure #9

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Merged
ste93 merged 1 commit into from
Oct 1, 2025
Merged

Fixed deadlock in skills closure #9

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2 changes: 2 additions & 0 deletions template_skill/include/TemplateSkill.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ class $className$
{
public:
$className$(std::string name );
~$className$();

bool start(int argc, char * argv[]);
static void spin(std::shared_ptr<rclcpp::Node> node);
/*TICK_CMD*/
Expand Down
20 changes: 15 additions & 5 deletions template_skill/src/TemplateSkill.cpp
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Expand Up @@ -2,6 +2,8 @@
#include <future>
#include <QTimer>
#include <QDebug>
#include <QCoreApplication>

#include <QTime>
#include <iostream>
#include <QStateMachine>
Expand Down Expand Up @@ -40,10 +42,18 @@ T convert(const std::string& str) {
/*DATAMODEL*/m_stateMachine.setDataModel(&m_dataModel);/*END_DATAMODEL*/
}

$className$::~$className$()
{
//std::cout << "DEBUG: Invoked destructor of $className$" << std::endl;
m_threadSpin->join();
}

void $className$::spin(std::shared_ptr<rclcpp::Node> node)
{
rclcpp::spin(node);
rclcpp::shutdown();
rclcpp::spin(node);
rclcpp::shutdown();
QCoreApplication::quit();
//std::cout << "DEBUG: $className$::spin successfully ended" << std::endl;
}

bool $className$::start(int argc, char*argv[])
Expand All @@ -55,7 +65,7 @@ bool $className$::start(int argc, char*argv[])

m_node = rclcpp::Node::make_shared(m_name + "Skill");
RCLCPP_DEBUG_STREAM(m_node->get_logger(), "$className$::start");
std::cout << "$className$::start";
std::cout << "DEBUG: $className$::start" << std::endl;

/*TICK*/
m_tickService = m_node->create_service<bt_interfaces_dummy::srv::Tick$skillType$>(m_name + "Skill/tick",
Expand Down Expand Up @@ -188,7 +198,7 @@ bool $className$::start(int argc, char*argv[])

m_stateMachine.start();
m_threadSpin = std::make_shared<std::thread>(spin, m_node);

return true;
}
/*TICK_CMD*/
Expand Down Expand Up @@ -332,4 +342,4 @@ void $className$::result_callback(const rclcpp_action::ClientGoalHandle<$eventD
data.insert("is_ok", result.result->is_ok);
m_stateMachine.submitEvent("$eventData.componentName$.$eventData.functionName$.ResultResponse", data);
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "$eventData.componentName$.$eventData.functionName$.ResultResponse");
}/*END_ACTION_RESULT_CALLBACK_FNC*/
}/*END_ACTION_RESULT_CALLBACK_FNC*/
1 change: 1 addition & 0 deletions template_skill/src/main.cpp
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Expand Up @@ -14,6 +14,7 @@ int main(int argc, char *argv[])

int ret=app.exec();

std::cout << "$className$ successfully closed" << std::endl;
return ret;
}