niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

keep shared pointer reference to rcl_node handle for subscription fini (#505)

Browse source
This commit is contained in:
William Woodall 2018-06-27 13:37:49 -07:00 • committed by GitHub
parent 4d67a8671b
commit a49281cff3
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

15
rclcpp/src/rclcpp/subscription.cpp
View file

@ -37,24 +37,15 @@ SubscriptionBase::SubscriptionBase(
type_support_(type_support_handle), type_support_(type_support_handle),
is_serialized_(is_serialized) is_serialized_(is_serialized)
{ {
std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_); auto custom_deletor = [node_handle](rcl_subscription_t * rcl_subs)
auto custom_deletor = [weak_node_handle](rcl_subscription_t * rcl_subs)
{ {
auto handle = weak_node_handle.lock(); if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
if (handle) {
if (rcl_subscription_fini(rcl_subs, handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR( RCLCPP_ERROR(
rclcpp::get_logger(rcl_node_get_logger_name(handle.get())).get_child("rclcpp"), rclcpp::get_logger(rcl_node_get_logger_name(node_handle.get())).get_child("rclcpp"),
"Error in destruction of rcl subscription handle: %s", "Error in destruction of rcl subscription handle: %s",
rcl_get_error_string_safe()); rcl_get_error_string_safe());
rcl_reset_error(); rcl_reset_error();
} }
} else {
RCLCPP_ERROR(
rclcpp::get_logger("rclcpp"),
"Error in destruction of rcl subscription handle: "
"the Node Handle was destructed too early. You will leak memory");
}
delete rcl_subs; delete rcl_subs;
}; };