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Use weak_ptr to store context in GraphListener #906

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merged 4 commits into from
Dec 2, 2019
Merged

Use weak_ptr to store context in GraphListener #906

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7b458d4
Clear sub contexts to make context shared_ptr not to be hold.
Barry-Xu-2018 Oct 22, 2019
5bd65eb
refactor to use weak_ptr to store sub_context instead of share_ptr
Barry-Xu-2018 Nov 19, 2019
65641cd
revert previous modification, use weak_ptr to store context in graph …
Barry-Xu-2018 Nov 27, 2019
06f549e
use interrupt_guard_condition_context_ directly
Barry-Xu-2018 Nov 28, 2019
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/graph_listener.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ class GraphListener : public std::enable_shared_from_this<GraphListener>
void
__shutdown(bool);

rclcpp::Context::SharedPtr parent_context_;
rclcpp::Context::WeakPtr parent_context_;

std::thread listener_thread_;
bool is_started_;
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22 changes: 18 additions & 4 deletions rclcpp/src/rclcpp/graph_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ GraphListener::start_if_not_started()
0, // number_of_clients
0, // number_of_services
0, // number_of_events
this->parent_context_->get_rcl_context().get(),
interrupt_guard_condition_context_.get(),
rcl_get_default_allocator());
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to initialize wait set");
Expand Down Expand Up @@ -355,10 +355,24 @@ GraphListener::__shutdown(bool should_throw)
throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
}
if (shutdown_guard_condition_) {
if (should_throw) {
parent_context_->release_interrupt_guard_condition(&wait_set_);
auto parent_context_ptr = parent_context_.lock();
if (parent_context_ptr) {
if (should_throw) {
parent_context_ptr->release_interrupt_guard_condition(&wait_set_);
} else {
parent_context_ptr->release_interrupt_guard_condition(&wait_set_, std::nothrow);
}
} else {
parent_context_->release_interrupt_guard_condition(&wait_set_, std::nothrow);
ret = rcl_guard_condition_fini(shutdown_guard_condition_);
if (RCL_RET_OK != ret) {
if (should_throw) {
throw_from_rcl_error(ret, "failed to finalize shutdown guard condition");
} else {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"failed to finalize shutdown guard condition");
}
}
}
shutdown_guard_condition_ = nullptr;
}
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