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Merge pull request #74 from ros2/subscriber_not_deregistering

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callback group must only store weak ptrs
This commit is contained in:
Dirk Thomas 2015-08-04 11:15:15 -07:00
commit 84c5edd5b7
4 changed files with 26 additions and 12 deletions
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4
rclcpp/include/rclcpp/callback_group.hpp
View file

@ -87,8 +87,8 @@ private:
} }
CallbackGroupType type_; CallbackGroupType type_;
std::vector<subscription::SubscriptionBase::SharedPtr> subscription_ptrs_; std::vector<subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
std::vector<timer::TimerBase::SharedPtr> timer_ptrs_; std::vector<timer::TimerBase::WeakPtr> timer_ptrs_;
std::vector<service::ServiceBase::SharedPtr> service_ptrs_; std::vector<service::ServiceBase::SharedPtr> service_ptrs_;
std::vector<client::ClientBase::SharedPtr> client_ptrs_; std::vector<client::ClientBase::SharedPtr> client_ptrs_;
std::atomic_bool can_be_taken_from_; std::atomic_bool can_be_taken_from_;

30
rclcpp/include/rclcpp/executor.hpp
View file

@ -260,11 +260,17 @@ protected:
if (!group || !group->can_be_taken_from_.load()) { if (!group || !group->can_be_taken_from_.load()) {
continue; continue;
} }
for (auto & subscription : group->subscription_ptrs_) { for (auto & weak_subscription : group->subscription_ptrs_) {
subs.push_back(subscription); auto subscription = weak_subscription.lock();
if (subscription) {
subs.push_back(subscription);
}
} }
for (auto & timer : group->timer_ptrs_) { for (auto & weak_timer : group->timer_ptrs_) {
timers.push_back(timer); auto timer = weak_timer.lock();
if (timer) {
timers.push_back(timer);
}
} }
for (auto & service : group->service_ptrs_) { for (auto & service : group->service_ptrs_) {
services.push_back(service); services.push_back(service);
@ -444,8 +450,9 @@ protected:
if (!group) { if (!group) {
continue; continue;
} }
for (auto subscription : group->subscription_ptrs_) { for (auto weak_subscription : group->subscription_ptrs_) {
if (subscription->subscription_handle_->data == subscriber_handle) { auto subscription = weak_subscription.lock();
if (subscription && subscription->subscription_handle_->data == subscriber_handle) {
return subscription; return subscription;
} }
} }
@ -467,8 +474,9 @@ protected:
if (!group) { if (!group) {
continue; continue;
} }
for (auto timer : group->timer_ptrs_) { for (auto weak_timer : group->timer_ptrs_) {
if (timer->guard_condition_->data == guard_condition_handle) { auto timer = weak_timer.lock();
if (timer && timer->guard_condition_->data == guard_condition_handle) {
return timer; return timer;
} }
} }
@ -583,7 +591,8 @@ protected:
} }
for (auto & weak_group : node->callback_groups_) { for (auto & weak_group : node->callback_groups_) {
auto group = weak_group.lock(); auto group = weak_group.lock();
for (auto & t : group->timer_ptrs_) { for (auto & weak_timer : group->timer_ptrs_) {
auto t = weak_timer.lock();
if (t == timer) { if (t == timer) {
return group; return group;
} }
@ -635,7 +644,8 @@ protected:
} }
for (auto & weak_group : node->callback_groups_) { for (auto & weak_group : node->callback_groups_) {
auto group = weak_group.lock(); auto group = weak_group.lock();
for (auto & sub : group->subscription_ptrs_) { for (auto & weak_sub : group->subscription_ptrs_) {
auto sub = weak_sub.lock();
if (sub == subscription) { if (sub == subscription) {
return group; return group;
} }

2
rclcpp/include/rclcpp/subscription.hpp
View file

@ -44,6 +44,7 @@ class SubscriptionBase
friend class rclcpp::executor::Executor; friend class rclcpp::executor::Executor;
public: public:
typedef std::weak_ptr<SubscriptionBase> WeakPtr;
RCLCPP_MAKE_SHARED_DEFINITIONS(SubscriptionBase); RCLCPP_MAKE_SHARED_DEFINITIONS(SubscriptionBase);
SubscriptionBase( SubscriptionBase(
@ -97,6 +98,7 @@ class Subscription : public SubscriptionBase
public: public:
typedef std::function<void (const std::shared_ptr<MessageT> &)> CallbackType; typedef std::function<void (const std::shared_ptr<MessageT> &)> CallbackType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Subscription); RCLCPP_MAKE_SHARED_DEFINITIONS(Subscription);
typedef std::weak_ptr<Subscription> WeakPtr;
Subscription( Subscription(
std::shared_ptr<rmw_node_t> node_handle, std::shared_ptr<rmw_node_t> node_handle,

2
rclcpp/include/rclcpp/timer.hpp
View file

@ -48,6 +48,7 @@ class TimerBase
public: public:
RCLCPP_MAKE_SHARED_DEFINITIONS(TimerBase); RCLCPP_MAKE_SHARED_DEFINITIONS(TimerBase);
typedef std::weak_ptr<TimerBase> WeakPtr;
TimerBase(std::chrono::nanoseconds period, CallbackType callback) TimerBase(std::chrono::nanoseconds period, CallbackType callback)
: period_(period), : period_(period),
@ -100,6 +101,7 @@ class GenericTimer : public TimerBase
public: public:
RCLCPP_MAKE_SHARED_DEFINITIONS(GenericTimer); RCLCPP_MAKE_SHARED_DEFINITIONS(GenericTimer);
typedef std::weak_ptr<GenericTimer> WeakPtr;
GenericTimer(std::chrono::nanoseconds period, CallbackType callback) GenericTimer(std::chrono::nanoseconds period, CallbackType callback)
: TimerBase(period, callback), loop_rate_(period) : TimerBase(period, callback), loop_rate_(period)