niklas/rmw_cyclonedds
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Avoid triggering graph guard cond after destroying it (#3)

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The graph guard condition is triggered whenever the underlying DDS
topology changes using a listener set on readers for the DDS built-in
topics.  The graph guard condition was destroyed before ensuring the listeners
would no longer be invoked, and this would lead to trying to trigger the
graph guard condition after it had been destroyed.

With this commit, the built-in readers are deleted explicitly before
destroying the graph guard condition.
This commit is contained in:
Erik Boasson 2019-06-07 09:03:30 +02:00
parent c34f6c35af
commit 16acb73821
1 changed files with 34 additions and 8 deletions
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42
rmw_cyclonedds_cpp/src/rmw_node.cpp
View file

@ -83,8 +83,15 @@ bool operator< (dds_builtintopic_guid_t const& a, dds_builtintopic_guid_t const&
return (memcmp (&a, &b, sizeof (dds_builtintopic_guid_t)) < 0);
}
static const dds_entity_t builtin_topics[] = {
DDS_BUILTIN_TOPIC_DCPSPARTICIPANT,
DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION,
DDS_BUILTIN_TOPIC_DCPSPUBLICATION
};
struct CddsNode {
dds_entity_t pp;
dds_entity_t builtin_readers[sizeof (builtin_topics) / sizeof (builtin_topics[0])];
rmw_guard_condition_t *graph_guard_condition;
};
@ -315,6 +322,7 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((u
dds_entity_t pp = dds_create_participant (DDS_DOMAIN_DEFAULT, qos, nullptr);
dds_delete_qos (qos);
if (pp < 0) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS participant");
return nullptr;
}
auto *node_impl = new CddsNode ();
@ -329,15 +337,19 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((u
node_impl->graph_guard_condition = graph_guard_condition;
//
static const dds_entity_t bts[] = {
DDS_BUILTIN_TOPIC_DCPSPARTICIPANT,
DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION,
DDS_BUILTIN_TOPIC_DCPSPUBLICATION
};
static_assert (sizeof (node_impl->builtin_readers) / sizeof (node_impl->builtin_readers[0]) == sizeof (builtin_topics) / sizeof (builtin_topics[0]), "mismatch between array of built-in topics and array of built-in readers");
gglistener = dds_create_listener (node_impl);
dds_lset_data_available (gglistener, ggcallback);
for (size_t i = 0; i < sizeof (bts) / sizeof (bts[0]); i++) {
dds_create_reader (pp, bts[i], NULL, gglistener);
for (size_t i = 0; i < sizeof (builtin_topics) / sizeof (builtin_topics[0]); i++) {
dds_entity_t rd = dds_create_reader (pp, builtin_topics[i], NULL, gglistener);
if (rd < 0) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "rmw_create_node: failed to create DDS built-in reader");
while (i--) {
dds_delete (node_impl->builtin_readers[i]);
}
goto fail_builtin_reader;
}
node_impl->builtin_readers[i] = rd;
}
dds_delete_listener (gglistener);
//
@ -368,6 +380,12 @@ extern "C" rmw_node_t *rmw_create_node (rmw_context_t *context __attribute__ ((u
if (RMW_RET_OK != rmw_destroy_guard_condition (graph_guard_condition)) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "failed to destroy guard condition during error handling");
}
for (size_t i = 0; i < sizeof (node_impl->builtin_readers) / sizeof (node_impl->builtin_readers[0]); i++) {
if (dds_delete (node_impl->builtin_readers[i]) < 0) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "failed to destroy DDS builtin-reader");
}
}
fail_builtin_reader:
fail_ggc:
delete node_impl;
fail_node_impl:
@ -384,11 +402,19 @@ extern "C" rmw_ret_t rmw_destroy_node (rmw_node_t *node)
rmw_free (const_cast<char *> (node->name));
rmw_free (const_cast<char *> (node->namespace_));
rmw_node_free (node);
for (size_t i = 0; i < sizeof (node_impl->builtin_readers) / sizeof (node_impl->builtin_readers[0]); i++) {
if (dds_delete (node_impl->builtin_readers[i]) < 0) {
RCUTILS_LOG_ERROR_NAMED ("rmw_cyclonedds_cpp", "failed to destroy DDS builtin-reader");
}
}
if (RMW_RET_OK != rmw_destroy_guard_condition (node_impl->graph_guard_condition)) {
RMW_SET_ERROR_MSG ("failed to destroy graph guard condition");
result_ret = RMW_RET_ERROR;
}
dds_delete (node_impl->pp);
if (dds_delete (node_impl->pp) < 0) {
RMW_SET_ERROR_MSG ("failed to destroy DDS participant");
result_ret = RMW_RET_ERROR;
}
delete node_impl;
return result_ret;
}