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CallbackGroup keeps now WeakPtrs to Services. (#261)

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It was not possible to shutdown a service when there
was a shared pointer preventing destructor from being called.
This commit is contained in:
Rafał Kozik 2016-10-29 00:59:46 +02:00 • committed by William Woodall
parent a71ce25a5a
commit d158dd46db
4 changed files with 11 additions and 8 deletions
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4
rclcpp/include/rclcpp/callback_group.hpp
View file

@ -63,7 +63,7 @@ public:
get_timer_ptrs() const; get_timer_ptrs() const;
RCLCPP_PUBLIC RCLCPP_PUBLIC
const std::vector<rclcpp::service::ServiceBase::SharedPtr> & const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
get_service_ptrs() const; get_service_ptrs() const;
RCLCPP_PUBLIC RCLCPP_PUBLIC
@ -102,7 +102,7 @@ private:
mutable std::mutex mutex_; mutable std::mutex mutex_;
std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_; std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_; std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_;
std::vector<rclcpp::service::ServiceBase::SharedPtr> service_ptrs_; std::vector<rclcpp::service::ServiceBase::WeakPtr> service_ptrs_;
std::vector<rclcpp::client::ClientBase::WeakPtr> client_ptrs_; std::vector<rclcpp::client::ClientBase::WeakPtr> client_ptrs_;
std::atomic_bool can_be_taken_from_; std::atomic_bool can_be_taken_from_;
}; };

3
rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
View file

@ -162,7 +162,8 @@ public:
} }
} }
} }
for (auto & service : group->get_service_ptrs()) { for (auto & weak_service : group->get_service_ptrs()) {
auto service = weak_service.lock();
if (service) { if (service) {
service_handles_.push_back(service->get_service_handle()); service_handles_.push_back(service->get_service_handle());
} }

2
rclcpp/src/rclcpp/callback_group.cpp
View file

@ -37,7 +37,7 @@ CallbackGroup::get_timer_ptrs() const
return timer_ptrs_; return timer_ptrs_;
} }
const std::vector<rclcpp::service::ServiceBase::SharedPtr> & const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
CallbackGroup::get_service_ptrs() const CallbackGroup::get_service_ptrs() const
{ {
std::lock_guard<std::mutex> lock(mutex_); std::lock_guard<std::mutex> lock(mutex_);

10
rclcpp/src/rclcpp/memory_strategy.cpp
View file

@ -60,8 +60,9 @@ MemoryStrategy::get_service_by_handle(const rcl_service_t * service_handle,
if (!group) { if (!group) {
continue; continue;
} }
for (auto & service : group->get_service_ptrs()) { for (auto & weak_service : group->get_service_ptrs()) {
if (service->get_service_handle() == service_handle) { auto service = weak_service.lock();
if (service && service->get_service_handle() == service_handle) {
return service; return service;
} }
} }
@ -158,8 +159,9 @@ MemoryStrategy::get_group_by_service(
if (!group) { if (!group) {
continue; continue;
} }
for (auto & serv : group->get_service_ptrs()) { for (auto & weak_serv : group->get_service_ptrs()) {
if (serv == service) { auto serv = weak_serv.lock();
if (serv && serv == service) {
return group; return group;
} }
} }