From 6a137f1aba35cb25b0e23709927c118415219ffd Mon Sep 17 00:00:00 2001
From: brawner <brawner@gmail.com>
Date: Mon, 5 Oct 2020 13:34:05 -0700
Subject: [PATCH] Tweaks to client.c and subscription.c for cleaner init/fini
 (#728) (#822)

Signed-off-by: Stephen Brawner <brawner@gmail.com>
---
 rcl/src/rcl/client.c    | 2 ++
 rcl/src/rcl/publisher.c | 1 +
 rcl/src/rcl/service.c   | 2 ++
 3 files changed, 5 insertions(+)

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 9bf70dc..6a6a510 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -189,6 +189,7 @@ rcl_client_init(
 fail:
   if (client->impl) {
     allocator->deallocate(client->impl, allocator->state);
+    client->impl = NULL;
   }
   ret = fail_ret;
   // Fall through to cleanup
@@ -223,6 +224,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(client->impl, allocator.state);
+    client->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client finalized");
   return result;
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 62bf16b..6aea8f6 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -236,6 +236,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(publisher->impl, allocator.state);
+    publisher->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher finalized");
   return result;
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 6dc1c79..cf7de3c 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -193,6 +193,7 @@ rcl_service_init(
 fail:
   if (service->impl) {
     allocator->deallocate(service->impl, allocator->state);
+    service->impl = NULL;
   }
   ret = fail_ret;
   // Fall through to clean up
@@ -228,6 +229,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(service->impl, allocator.state);
+    service->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service finalized");
   return result;