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comply with rcl allocator (#336)

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* comply with rcl allocator

* do not throw exception in destructor
This commit is contained in:
Karsten Knese 2017-06-16 23:44:25 +02:00 • committed by Dirk Thomas
parent 756ef6886d
commit 99441d8494
1 changed files with 16 additions and 16 deletions
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32
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -35,6 +35,7 @@
#include "rcl/error_handling.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/transition_map.h"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
@ -60,24 +61,21 @@ public:
~LifecycleNodeInterfaceImpl()
{
if (rcl_lifecycle_state_machine_is_initialized(&state_machine_) != RCL_RET_OK) {
fprintf(stderr, "%s:%u, FATAL: rcl_state_machine got destroyed externally.\n",
__FILE__, __LINE__);
// TODO(karsten1987): Remove else. It should always be possible to call
// fini on state machine, also when not initialized
} else {
if (rcl_lifecycle_state_machine_fini(&state_machine_,
node_base_interface_->get_rcl_node_handle()) != RCL_RET_OK)
{
fprintf(stderr, "%s:%u, FATAL: failed to destroy rcl_state_machine.\n",
__FILE__, __LINE__);
}
rcl_node_t * node_handle = node_base_interface_->get_rcl_node_handle();
const rcl_node_options_t * node_options = rcl_node_get_options(node_handle);
auto ret = rcl_lifecycle_state_machine_fini(
&state_machine_, node_handle, &node_options->allocator);
if (ret != RCL_RET_OK) {
fprintf(stderr, "FATAL: failed to destroy rcl_state_machine\n");
}
}
void
init()
{
rcl_node_t * node_handle = node_base_interface_->get_rcl_node_handle();
const rcl_node_options_t * node_options =
rcl_node_get_options(node_base_interface_->get_rcl_node_handle());
state_machine_ = rcl_lifecycle_get_zero_initialized_state_machine();
// The call to initialize the state machine takes
// currently five different typesupports for all publishers/services
@ -86,17 +84,19 @@ public:
// the message) is done fully in RCL.
// Services are handled in C++, so that it needs a C++ typesupport structure.
rcl_ret_t ret = rcl_lifecycle_state_machine_init(
&state_machine_, node_base_interface_->get_rcl_node_handle(),
&state_machine_,
node_handle,
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(),
rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(),
rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableStatesSrv>(),
rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableTransitionsSrv>(),
true);
true,
&node_options->allocator);
if (ret != RCL_RET_OK) {
throw std::runtime_error(
std::string(
"Couldn't initialize state machine for node ") + node_base_interface_->get_name());
std::string("Couldn't initialize state machine for node ") +
node_base_interface_->get_name());
}
{ // change_state