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Support creating a waitset without creating a node

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Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-08-18 21:01:16 +02:00 • committed by eboasson
parent 5e137205f2
commit 021910e565
1 changed files with 3 additions and 1 deletions
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4
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -1384,7 +1384,7 @@ extern "C" rmw_wait_set_t * rmw_create_wait_set(rmw_context_t * context, size_t
goto fail_ws; goto fail_ws;
} }
ws->inuse = false; ws->inuse = false;
if ((ws->waitseth = dds_create_waitset(gcdds.ppant)) < 0) { if ((ws->waitseth = dds_create_waitset(ref_ppant())) < 0) {
RMW_SET_ERROR_MSG("failed to create waitset"); RMW_SET_ERROR_MSG("failed to create waitset");
goto fail_waitset; goto fail_waitset;
} }
@ -1395,6 +1395,7 @@ extern "C" rmw_wait_set_t * rmw_create_wait_set(rmw_context_t * context, size_t
return wait_set; return wait_set;
fail_waitset: fail_waitset:
unref_ppant();
fail_ws: fail_ws:
RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(ws->~CddsWaitset(), ws); RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE(ws->~CddsWaitset(), ws);
fail_placement_new: fail_placement_new:
@ -1416,6 +1417,7 @@ extern "C" rmw_ret_t rmw_destroy_wait_set(rmw_wait_set_t * wait_set)
std::lock_guard<std::mutex> lock(gcdds.lock); std::lock_guard<std::mutex> lock(gcdds.lock);
gcdds.waitsets.erase(ws); gcdds.waitsets.erase(ws);
} }
unref_ppant();
RMW_TRY_DESTRUCTOR(ws->~CddsWaitset(), ws, result = RMW_RET_ERROR); RMW_TRY_DESTRUCTOR(ws->~CddsWaitset(), ws, result = RMW_RET_ERROR);
rmw_free(wait_set->data); rmw_free(wait_set->data);
rmw_wait_set_free(wait_set); rmw_wait_set_free(wait_set);