Make sure timer is fini'd before clock #553
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dirk-thomas
approved these changes
Sep 7, 2018
wjwwood
reviewed
Sep 7, 2018
| @@ -27,7 +27,7 @@ TimerBase::TimerBase(rclcpp::Clock::SharedPtr clock, std::chrono::nanoseconds pe | |||
| clock_ = clock; | |||
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| timer_handle_ = std::shared_ptr<rcl_timer_t>( | |||
| new rcl_timer_t, [ = ](rcl_timer_t * timer) | |||
| new rcl_timer_t, [ = ](rcl_timer_t * timer) mutable | |||
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TIL about mutable with lambda's.
wjwwood
approved these changes
Sep 7, 2018
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This PR makes sure timers are finalized before clocks. Since a timer uses a clock, the clock must be valid longer than the timer.
I suspect this will fix the windows test failures in ros2/rcl#286. That PR adds a time jump callback to the clock in
rcl_timer_init(), and removes it inrcl_timer_fini(). If the clock is finalized before the timer then the attempt to remove the jump callback results in trying to access anrcl_clock_tafter it has been freed.TimerBasealready has a shared pointer toClockfor this purpose, but this is insufficient.TimerBase::get_timer_handle()returns anstd::shared_ptr<rcl_timer_t>with a deleter that callsrcl_timer_fini(). This handle can live longer thanTimerBasein an executor's memory strategy. SpecificallyAllocatorMemoryStrategykeeps a list ofstd::shared_ptr<rcl_timer_t>. If theNodeClockandTimerBaseare destroyed before anExecutorthen the clock is finalized before the timer handle which may result in a crash.CI
blocks ros2/rcl#286