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Hold onto the rcl_{subscription,publisher}_t shared_ptr.

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This keeps it from going out of scope while the executor
is still dealing with QoSEvents.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
This commit is contained in:
Chris Lalancette 2020-05-27 20:48:26 +00:00 • committed by Chris Lalancette
parent 4efcfdc16b
commit 5632fa03ae
3 changed files with 11 additions and 7 deletions
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5
rclcpp/include/rclcpp/publisher_base.hpp
View file

@ -200,10 +200,11 @@ protected:
const EventCallbackT & callback, const EventCallbackT & callback,
const rcl_publisher_event_type_t event_type) const rcl_publisher_event_type_t event_type)
{ {
auto handler = std::make_shared<QOSEventHandler<EventCallbackT>>( auto handler = std::make_shared<QOSEventHandler<EventCallbackT,
std::shared_ptr<rcl_publisher_t>>>(
callback, callback,
rcl_publisher_event_init, rcl_publisher_event_init,
publisher_handle_.get(), publisher_handle_,
event_type); event_type);
event_handlers_.emplace_back(handler); event_handlers_.emplace_back(handler);
} }

8
rclcpp/include/rclcpp/qos_event.hpp
View file

@ -102,11 +102,11 @@ protected:
size_t wait_set_event_index_; size_t wait_set_event_index_;
}; };
template<typename EventCallbackT> template<typename EventCallbackT, typename ParentHandleT>
class QOSEventHandler : public QOSEventHandlerBase class QOSEventHandler : public QOSEventHandlerBase
{ {
public: public:
template<typename InitFuncT, typename ParentHandleT, typename EventTypeEnum> template<typename InitFuncT, typename EventTypeEnum>
QOSEventHandler( QOSEventHandler(
const EventCallbackT & callback, const EventCallbackT & callback,
InitFuncT init_func, InitFuncT init_func,
@ -114,8 +114,9 @@ public:
EventTypeEnum event_type) EventTypeEnum event_type)
: event_callback_(callback) : event_callback_(callback)
{ {
parent_handle_ = parent_handle;
event_handle_ = rcl_get_zero_initialized_event(); event_handle_ = rcl_get_zero_initialized_event();
rcl_ret_t ret = init_func(&event_handle_, parent_handle, event_type); rcl_ret_t ret = init_func(&event_handle_, parent_handle.get(), event_type);
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
if (ret == RCL_RET_UNSUPPORTED) { if (ret == RCL_RET_UNSUPPORTED) {
UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event"); UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event");
@ -148,6 +149,7 @@ private:
using EventCallbackInfoT = typename std::remove_reference<typename using EventCallbackInfoT = typename std::remove_reference<typename
rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type; rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
ParentHandleT parent_handle_;
EventCallbackT event_callback_; EventCallbackT event_callback_;
}; };

5
rclcpp/include/rclcpp/subscription_base.hpp
View file

@ -270,10 +270,11 @@ protected:
const EventCallbackT & callback, const EventCallbackT & callback,
const rcl_subscription_event_type_t event_type) const rcl_subscription_event_type_t event_type)
{ {
auto handler = std::make_shared<QOSEventHandler<EventCallbackT>>( auto handler = std::make_shared<QOSEventHandler<EventCallbackT,
std::shared_ptr<rcl_subscription_t>>>(
callback, callback,
rcl_subscription_event_init, rcl_subscription_event_init,
get_subscription_handle().get(), get_subscription_handle(),
event_type); event_type);
qos_events_in_use_by_wait_set_.insert(std::make_pair(handler.get(), false)); qos_events_in_use_by_wait_set_.insert(std::make_pair(handler.get(), false));
event_handlers_.emplace_back(handler); event_handlers_.emplace_back(handler);