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

Jump to bottom

Fix data race in ~EventHandlerBase #2349

Merged
merged 1 commit into from Nov 14, 2023
Merged

Fix data race in ~EventHandlerBase #2349

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
10 changes: 10 additions & 0 deletions rclcpp/include/rclcpp/event_handler.hpp
View file
Open in desktop
Expand Up @@ -260,6 +260,16 @@ class EventHandler : public EventHandlerBase
}
}

~EventHandler()
{
// Since the rmw event listener holds a reference to the
// "on ready" callback, we need to clear it on destruction of this class.
// This clearing is not needed for other rclcpp entities like pub/subs, since
// they do own the underlying rmw entities, which are destroyed
// on their rclcpp destructors, thus no risk of dangling pointers.
clear_on_ready_callback();
}

/// Take data so that the callback cannot be scheduled again
std::shared_ptr<void>
take_data() override
Expand Down
7 changes: 0 additions & 7 deletions rclcpp/src/rclcpp/event_handler.cpp
View file
Open in desktop
Expand Up @@ -39,13 +39,6 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(

EventHandlerBase::~EventHandlerBase()
{
// Since the rmw event listener holds a reference to
// this callback, we need to clear it on destruction of this class.
// This clearing is not needed for other rclcpp entities like pub/subs, since
// they do own the underlying rmw entities, which are destroyed
// on their rclcpp destructors, thus no risk of dangling pointers.
clear_on_ready_callback();

if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
Expand Down