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Check waitable for nullptr during constructor (#1315) (#1379)

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Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner 2020-10-05 13:39:22 -07:00 • committed by GitHub
parent b843c75ef8
commit 6e408b79f3
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1 changed files with 11 additions and 1 deletions
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12
rclcpp/include/rclcpp/wait_set_policies/detail/storage_policy_common.hpp
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@ -73,7 +73,17 @@ protected:
size_t services_from_waitables = 0; size_t services_from_waitables = 0;
size_t events_from_waitables = 0; size_t events_from_waitables = 0;
for (const auto & waitable_entry : waitables) { for (const auto & waitable_entry : waitables) {
rclcpp::Waitable & waitable = *waitable_entry.waitable.get(); auto waitable_ptr_pair = get_raw_pointer_from_smart_pointer(waitable_entry.waitable);
if (nullptr == waitable_ptr_pair.second) {
if (HasStrongOwnership) {
throw std::runtime_error("unexpected condition, fixed storage policy needs pruning");
}
// Flag for pruning.
needs_pruning_ = true;
continue;
}
rclcpp::Waitable & waitable = *waitable_ptr_pair.second;
subscriptions_from_waitables += waitable.get_number_of_ready_subscriptions(); subscriptions_from_waitables += waitable.get_number_of_ready_subscriptions();
guard_conditions_from_waitables += waitable.get_number_of_ready_guard_conditions(); guard_conditions_from_waitables += waitable.get_number_of_ready_guard_conditions();
timers_from_waitables += waitable.get_number_of_ready_timers(); timers_from_waitables += waitable.get_number_of_ready_timers();