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Stop retaining ownership of the rcl context in GraphListener (#946)

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
This commit is contained in:
Ivan Santiago Paunovic 2020-01-07 10:01:36 -03:00 • committed by GitHub
parent 914ea81c63
commit 01d03c5d4e
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 13 additions and 6 deletions
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1
rclcpp/include/rclcpp/graph_listener.hpp
View file

@ -177,7 +177,6 @@ private:
std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_; std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition(); 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_guard_condition_t * shutdown_guard_condition_;
rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set(); rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
}; };

18
rclcpp/src/rclcpp/graph_listener.cpp
View file

@ -39,17 +39,15 @@ GraphListener::GraphListener(std::shared_ptr<rclcpp::Context> parent_context)
: parent_context_(parent_context), : parent_context_(parent_context),
is_started_(false), is_started_(false),
is_shutdown_(false), is_shutdown_(false),
interrupt_guard_condition_context_(nullptr),
shutdown_guard_condition_(nullptr) shutdown_guard_condition_(nullptr)
{ {
// TODO(wjwwood): make a guard condition class in rclcpp so this can be tracked // TODO(wjwwood): make a guard condition class in rclcpp so this can be tracked
// automatically with the rcl guard condition // automatically with the rcl guard condition
// hold on to this context to prevent it from going out of scope while this // hold on to this context to prevent it from going out of scope while this
// guard condition is using it. // guard condition is using it.
interrupt_guard_condition_context_ = parent_context->get_rcl_context();
rcl_ret_t ret = rcl_guard_condition_init( rcl_ret_t ret = rcl_guard_condition_init(
&interrupt_guard_condition_, &interrupt_guard_condition_,
interrupt_guard_condition_context_.get(), parent_context->get_rcl_context().get(),
rcl_guard_condition_get_default_options()); rcl_guard_condition_get_default_options());
if (RCL_RET_OK != ret) { if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to create interrupt guard condition"); throw_from_rcl_error(ret, "failed to create interrupt guard condition");
@ -72,6 +70,10 @@ GraphListener::start_if_not_started()
} }
if (!is_started_) { if (!is_started_) {
// Initialize the wait set before starting. // 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( rcl_ret_t ret = rcl_wait_set_init(
&wait_set_, &wait_set_,
0, // number_of_subscriptions 0, // number_of_subscriptions
@ -80,7 +82,7 @@ GraphListener::start_if_not_started()
0, // number_of_clients 0, // number_of_clients
0, // number_of_services 0, // number_of_services
0, // number_of_events 0, // number_of_events
interrupt_guard_condition_context_.get(), parent_context->get_rcl_context().get(),
rcl_get_default_allocator()); rcl_get_default_allocator());
if (RCL_RET_OK != ret) { if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to initialize wait set"); throw_from_rcl_error(ret, "failed to initialize wait set");
@ -141,6 +143,13 @@ GraphListener::run_loop()
} }
// This lock is released when the loop continues or exits. // This lock is released when the loop continues or exits.
std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock); 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, the loop is broken and the function just returns silently.
return;
}
// Resize the wait set if necessary. // Resize the wait set if necessary.
const size_t node_graph_interfaces_size = node_graph_interfaces_.size(); const size_t node_graph_interfaces_size = node_graph_interfaces_.size();
@ -350,7 +359,6 @@ GraphListener::__shutdown(bool should_throw)
listener_thread_.join(); listener_thread_.join();
} }
rcl_ret_t ret = rcl_guard_condition_fini(&interrupt_guard_condition_); 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) { if (RCL_RET_OK != ret) {
throw_from_rcl_error(ret, "failed to finalize interrupt guard condition"); throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
} }