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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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8 changes: 8 additions & 0 deletions rclcpp/src/rclcpp/graph_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,9 @@ GraphListener::start_if_not_started()
if (!is_started_) {
// Initialize the wait set before starting.
auto parent_context = parent_context_.lock();
if (!parent_context) {
throw std::runtime_error("parent context was destroyed");
}
rcl_ret_t ret = rcl_wait_set_init(
&wait_set_,
0, // number_of_subscriptions
Expand Down Expand Up @@ -142,6 +145,11 @@ GraphListener::run_loop()
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();
if (!parent_context) {
// the parent context may be destroyed before this loop is stopped.
// in that case, just return silently.
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nitpick: if a comment has punctuation then it should be a sentence and should have capitalization

// this is ok
// This is also ok.
// some_variable_name at the beginning makes a lack of capitalization ok too.

// this is weird.
// Weird because not a sentence, actually sentence fragment.
// not weird because not a sentence, so sentence fragments are ok

return;
}

// Resize the wait set if necessary.
const size_t node_graph_interfaces_size = node_graph_interfaces_.size();
Expand Down