share ownership of the rmw node handle
This prevents the node handle from getting deleted before things it created can be deleted. I also added destructors where necessary.
This commit is contained in:
William Woodall
parent
5baa5195db
commit
e8d150e544
6 changed files with 100 additions and 28 deletions
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@ -16,10 +16,12 @@
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#define RCLCPP_RCLCPP_CLIENT_HPP_
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#include <future>
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#include <iostream>
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#include <map>
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#include <memory>
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#include <utility>
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#include <rmw/error_handling.h>
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#include <rmw/rmw.h>
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#include <rclcpp/macros.hpp>
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@ -44,15 +46,21 @@ class ClientBase
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public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(ClientBase);
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ClientBase(rmw_client_t * client_handle, const std::string & service_name)
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: client_handle_(client_handle), service_name_(service_name)
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ClientBase(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_client_t * client_handle,
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const std::string & service_name)
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: node_handle_(node_handle), client_handle_(client_handle), service_name_(service_name)
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{}
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~ClientBase()
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{
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if (client_handle_ != nullptr) {
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rmw_destroy_client(client_handle_);
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client_handle_ = nullptr;
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if (client_handle_) {
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if (rmw_destroy_client(client_handle_) == RMW_RET_ERROR) {
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std::cerr << "Error in destruction of rmw client handle: " <<
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(rmw_get_error_string() ? rmw_get_error_string() : "") <<
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std::endl;
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}
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}
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}
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@ -74,6 +82,8 @@ public:
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private:
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RCLCPP_DISABLE_COPY(ClientBase);
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std::shared_ptr<rmw_node_t> node_handle_;
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rmw_client_t * client_handle_;
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std::string service_name_;
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@ -91,8 +101,11 @@ public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(Client);
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Client(rmw_client_t * client_handle, const std::string & service_name)
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: ClientBase(client_handle, service_name)
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Client(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_client_t * client_handle,
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const std::string & service_name)
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: ClientBase(node_handle, client_handle, service_name)
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{}
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std::shared_ptr<void> create_response()
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@ -187,7 +187,7 @@ private:
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std::string name_;
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rmw_node_t * node_handle_;
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std::shared_ptr<rmw_node_t> node_handle_;
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rclcpp::context::Context::SharedPtr context_;
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@ -226,6 +226,7 @@ private:
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>
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typename rclcpp::service::Service<ServiceT>::SharedPtr
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create_service_internal(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_service_t * service_handle,
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const std::string & service_name,
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FunctorT callback)
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@ -233,7 +234,7 @@ private:
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typename rclcpp::service::Service<ServiceT>::CallbackType callback_without_header =
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callback;
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return service::Service<ServiceT>::make_shared(
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service_handle, service_name, callback_without_header);
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node_handle, service_handle, service_name, callback_without_header);
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}
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template<
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@ -271,6 +272,7 @@ private:
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>
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typename rclcpp::service::Service<ServiceT>::SharedPtr
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create_service_internal(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_service_t * service_handle,
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const std::string & service_name,
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FunctorT callback)
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@ -284,7 +286,7 @@ private:
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typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
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callback;
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return service::Service<ServiceT>::make_shared(
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service_handle, service_name, callback_with_header);
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node_handle, service_handle, service_name, callback_with_header);
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}
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};
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@ -16,6 +16,7 @@
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#define RCLCPP_RCLCPP_NODE_IMPL_HPP_
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#include <algorithm>
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#include <iostream>
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#include <memory>
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#include <stdexcept>
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#include <string>
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@ -44,7 +45,17 @@ Node::Node(std::string node_name, context::Context::SharedPtr context)
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: name_(node_name), context_(context),
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number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
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{
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node_handle_ = rmw_create_node(name_.c_str());
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// Initialize node handle shared_ptr with custom deleter.
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node_handle_.reset(rmw_create_node(name_.c_str()), [ = ](rmw_node_t * node) {
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if (node_handle_) {
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auto ret = rmw_destroy_node(node);
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if (ret != RMW_RET_OK) {
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std::cerr << "Error in destruction of rmw node handle: "
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<< (rmw_get_error_string() ? rmw_get_error_string() : "")
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<< std::endl;
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}
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}
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});
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if (!node_handle_) {
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// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
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throw std::runtime_error(
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@ -54,7 +65,7 @@ Node::Node(std::string node_name, context::Context::SharedPtr context)
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}
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using rclcpp::callback_group::CallbackGroupType;
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default_callback_group_ = \
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default_callback_group_ =
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create_callback_group(CallbackGroupType::MutuallyExclusive);
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// TODO(esteve): remove hardcoded values
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events_publisher_ =
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@ -79,7 +90,7 @@ Node::create_publisher(std::string topic_name, size_t queue_size)
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using rosidl_generator_cpp::get_message_type_support_handle;
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auto type_support_handle = get_message_type_support_handle<MessageT>();
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rmw_publisher_t * publisher_handle = rmw_create_publisher(
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node_handle_, type_support_handle, topic_name.c_str(), queue_size);
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node_handle_.get(), type_support_handle, topic_name.c_str(), queue_size);
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if (!publisher_handle) {
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// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
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throw std::runtime_error(
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@ -88,7 +99,7 @@ Node::create_publisher(std::string topic_name, size_t queue_size)
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// *INDENT-ON*
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}
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return publisher::Publisher::make_shared(publisher_handle);
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return publisher::Publisher::make_shared(node_handle_, publisher_handle);
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}
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bool
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@ -116,7 +127,7 @@ Node::create_subscription(
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using rosidl_generator_cpp::get_message_type_support_handle;
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auto type_support_handle = get_message_type_support_handle<MessageT>();
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rmw_subscription_t * subscriber_handle = rmw_create_subscription(
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node_handle_, type_support_handle, topic_name.c_str(), queue_size, ignore_local_publications);
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node_handle_.get(), type_support_handle, topic_name.c_str(), queue_size, ignore_local_publications);
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if (!subscriber_handle) {
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// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
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throw std::runtime_error(
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@ -128,6 +139,7 @@ Node::create_subscription(
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using namespace rclcpp::subscription;
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auto sub = Subscription<MessageT>::make_shared(
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node_handle_,
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subscriber_handle,
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topic_name,
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ignore_local_publications,
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@ -189,7 +201,7 @@ Node::create_client(
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get_service_type_support_handle<ServiceT>();
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rmw_client_t * client_handle = rmw_create_client(
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this->node_handle_, service_type_support_handle, service_name.c_str());
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this->node_handle_.get(), service_type_support_handle, service_name.c_str());
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if (!client_handle) {
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// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
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throw std::runtime_error(
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@ -201,6 +213,7 @@ Node::create_client(
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using namespace rclcpp::client;
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auto cli = Client<ServiceT>::make_shared(
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node_handle_,
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client_handle,
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service_name);
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@ -231,7 +244,7 @@ Node::create_service(
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get_service_type_support_handle<ServiceT>();
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rmw_service_t * service_handle = rmw_create_service(
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this->node_handle_, service_type_support_handle, service_name.c_str());
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node_handle_.get(), service_type_support_handle, service_name.c_str());
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if (!service_handle) {
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// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
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throw std::runtime_error(
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@ -241,7 +254,7 @@ Node::create_service(
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}
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auto serv = create_service_internal<ServiceT>(
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service_handle, service_name, callback);
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node_handle_, service_handle, service_name, callback);
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auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
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if (group) {
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if (!group_in_node(group)) {
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@ -15,8 +15,10 @@
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#ifndef RCLCPP_RCLCPP_PUBLISHER_HPP_
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#define RCLCPP_RCLCPP_PUBLISHER_HPP_
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#include <iostream>
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#include <memory>
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#include <rmw/error_handling.h>
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#include <rmw/rmw.h>
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#include <rclcpp/macros.hpp>
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@ -38,10 +40,21 @@ class Publisher
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public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(Publisher);
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Publisher(rmw_publisher_t * publisher_handle)
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: publisher_handle_(publisher_handle)
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Publisher(std::shared_ptr<rmw_node_t> node_handle, rmw_publisher_t * publisher_handle)
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: node_handle_(node_handle), publisher_handle_(publisher_handle)
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{}
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~Publisher()
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{
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if (publisher_handle_) {
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if (rmw_destroy_publisher(node_handle_.get(), publisher_handle_) == RMW_RET_ERROR) {
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std::cerr << "Error in destruction of rmw publisher handle: "
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<< (rmw_get_error_string() ? rmw_get_error_string() : "")
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<< std::endl;
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}
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}
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}
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template<typename MessageT>
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void
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publish(std::shared_ptr<MessageT> & msg)
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@ -50,6 +63,8 @@ public:
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}
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private:
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std::shared_ptr<rmw_node_t> node_handle_;
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rmw_publisher_t * publisher_handle_;
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};
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@ -16,9 +16,11 @@
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#define RCLCPP_RCLCPP_SERVICE_HPP_
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#include <functional>
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#include <iostream>
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#include <memory>
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#include <string>
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#include <rmw/error_handling.h>
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#include <rmw/rmw.h>
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#include <rclcpp/macros.hpp>
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RCLCPP_MAKE_SHARED_DEFINITIONS(ServiceBase);
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ServiceBase(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_service_t * service_handle,
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const std::string service_name)
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: service_handle_(service_handle), service_name_(service_name)
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: node_handle_(node_handle), service_handle_(service_handle), service_name_(service_name)
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{}
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~ServiceBase()
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{
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if (service_handle_ != nullptr) {
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rmw_destroy_service(service_handle_);
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service_handle_ = nullptr;
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if (service_handle_) {
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if (rmw_destroy_service(service_handle_) == RMW_RET_ERROR) {
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std::cerr << "Error in destruction of rmw service_handle_ handle: " <<
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(rmw_get_error_string() ? rmw_get_error_string() : "") <<
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std::endl;
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}
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}
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}
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@ -76,6 +82,8 @@ public:
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private:
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RCLCPP_DISABLE_COPY(ServiceBase);
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std::shared_ptr<rmw_node_t> node_handle_;
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rmw_service_t * service_handle_;
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std::string service_name_;
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@ -98,17 +106,20 @@ public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(Service);
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Service(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_service_t * service_handle,
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const std::string & service_name,
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CallbackType callback)
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: ServiceBase(service_handle, service_name), callback_(callback), callback_with_header_(nullptr)
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: ServiceBase(node_handle, service_handle, service_name), callback_(callback),
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callback_with_header_(nullptr)
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{}
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Service(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_service_t * service_handle,
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const std::string & service_name,
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CallbackWithHeaderType callback_with_header)
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: ServiceBase(service_handle, service_name), callback_(nullptr),
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: ServiceBase(node_handle, service_handle, service_name), callback_(nullptr),
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callback_with_header_(callback_with_header)
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{}
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@ -16,9 +16,11 @@
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#define RCLCPP_RCLCPP_SUBSCRIPTION_HPP_
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#include <functional>
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#include <iostream>
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#include <memory>
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#include <string>
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#include <rmw/error_handling.h>
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#include <rmw/rmw.h>
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#include <rclcpp/macros.hpp>
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@ -43,14 +45,27 @@ public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(SubscriptionBase);
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SubscriptionBase(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_subscription_t * subscription_handle,
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std::string & topic_name,
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bool ignore_local_publications)
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: subscription_handle_(subscription_handle),
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: node_handle_(node_handle),
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subscription_handle_(subscription_handle),
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topic_name_(topic_name),
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ignore_local_publications_(ignore_local_publications)
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{}
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~SubscriptionBase()
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{
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if (subscription_handle_) {
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if (rmw_destroy_subscription(node_handle_.get(), subscription_handle_) == RMW_RET_ERROR) {
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std::cerr << "Error in destruction of rmw subscription handle: " <<
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(rmw_get_error_string() ? rmw_get_error_string() : "") <<
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std::endl;
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}
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}
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}
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std::string get_topic_name()
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{
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return this->topic_name_;
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@ -62,6 +77,8 @@ public:
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private:
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RCLCPP_DISABLE_COPY(SubscriptionBase);
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std::shared_ptr<rmw_node_t> node_handle_;
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rmw_subscription_t * subscription_handle_;
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std::string topic_name_;
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bool ignore_local_publications_;
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@ -76,11 +93,12 @@ public:
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RCLCPP_MAKE_SHARED_DEFINITIONS(Subscription);
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Subscription(
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std::shared_ptr<rmw_node_t> node_handle,
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rmw_subscription_t * subscription_handle,
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std::string & topic_name,
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bool ignore_local_publications,
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CallbackType callback)
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: SubscriptionBase(subscription_handle, topic_name, ignore_local_publications),
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: SubscriptionBase(node_handle, subscription_handle, topic_name, ignore_local_publications),
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callback_(callback)
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{}
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