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Avoid retaining ownership of the rcl context #946

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merged 4 commits into from
Jan 7, 2020
Merged

Avoid retaining ownership of the rcl context #946

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ef0b0c1
Avoid retaining ownership of the rcl context
ivanpauno Dec 17, 2019
968d5be
Fix typo
ivanpauno Dec 17, 2019
c1b1a59
Check if context is not null
ivanpauno Jan 6, 2020
9a9496f
Comments with punctuation must have capitalization and be a sentence
ivanpauno Jan 6, 2020
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1 change: 0 additions & 1 deletion rclcpp/include/rclcpp/graph_listener.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,6 @@ class GraphListener : public std::enable_shared_from_this<GraphListener>
std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;

rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
std::shared_ptr<rcl_context_t> interrupt_guard_condition_context_;
rcl_guard_condition_t * shutdown_guard_condition_;
rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
};
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10 changes: 5 additions & 5 deletions rclcpp/src/rclcpp/graph_listener.cpp
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Expand Up @@ -39,17 +39,15 @@ GraphListener::GraphListener(std::shared_ptr<rclcpp::Context> parent_context)
: parent_context_(parent_context),
is_started_(false),
is_shutdown_(false),
interrupt_guard_condition_context_(nullptr),
shutdown_guard_condition_(nullptr)
{
// TODO(wjwwood): make a guard condition class in rclcpp so this can be tracked
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// automatically with the rcl guard condition
// hold on to this context to prevent it from going out of scope while this
// guard condition is using it.
interrupt_guard_condition_context_ = parent_context->get_rcl_context();
rcl_ret_t ret = rcl_guard_condition_init(
&interrupt_guard_condition_,
interrupt_guard_condition_context_.get(),
parent_context->get_rcl_context().get(),
rcl_guard_condition_get_default_options());
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to create interrupt guard condition");
Expand All @@ -72,6 +70,7 @@ GraphListener::start_if_not_started()
}
if (!is_started_) {
// Initialize the wait set before starting.
auto parent_context = parent_context_.lock();
rcl_ret_t ret = rcl_wait_set_init(
&wait_set_,
0, // number_of_subscriptions
Expand All @@ -80,7 +79,7 @@ GraphListener::start_if_not_started()
0, // number_of_clients
0, // number_of_services
0, // number_of_events
interrupt_guard_condition_context_.get(),
parent_context->get_rcl_context().get(),
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rcl_get_default_allocator());
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to initialize wait set");
Expand Down Expand Up @@ -141,6 +140,8 @@ GraphListener::run_loop()
}
// This lock is released when the loop continues or exits.
std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
// Ensure that the context doesn't go out of scope.
auto parent_context = parent_context_.lock();

// Resize the wait set if necessary.
const size_t node_graph_interfaces_size = node_graph_interfaces_.size();
Expand Down Expand Up @@ -350,7 +351,6 @@ GraphListener::__shutdown(bool should_throw)
listener_thread_.join();
}
rcl_ret_t ret = rcl_guard_condition_fini(&interrupt_guard_condition_);
interrupt_guard_condition_context_.reset(); // release context guard condition was using
if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
}
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