Fix leak in client/service topic error handling
And refactor to reduce the amount of code duplication. Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson
eboasson
parent
6162be51f9
commit
b4c0620b5b
1 changed files with 72 additions and 60 deletions
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@ -928,6 +928,63 @@ extern "C" rmw_ret_t rmw_deserialize(
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return ok ? RMW_RET_OK : RMW_RET_ERROR;
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////// ///////////
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/////////// TOPIC CREATION ///////////
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/////////// ///////////
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/////////////////////////////////////////////////////////////////////////////////////////
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/* Publications need the sertopic that DDSI uses for the topic when publishing a
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serialized message. With the old ("arbitrary") interface of Cyclone, one doesn't know
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the sertopic that is actually used because that may be the one that was provided in the
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call to dds_create_topic_arbitrary(), but it may also be one that was introduced by a
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preceding call to create the same topic.
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There is no way of discovering which case it is, and there is no way of getting access
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to the correct sertopic. The best one can do is to keep using one provided when
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creating the topic -- and fortunately using the wrong sertopic has surprisingly few
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nasty side-effects, but it still wrong.
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Because the caller retains ownership, so this is easy, but it does require dropping the
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reference when cleaning up.
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The new ("generic") interface instead takes over the ownership of the reference iff it
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succeeds and it returns a non-counted reference to the sertopic actually used. The
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lifetime of the reference is at least as long as the lifetime of the DDS topic exists;
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and the topic's lifetime is at least that of the readers/writers using it. This
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reference can therefore safely be used. */
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static dds_entity_t create_topic(
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dds_entity_t pp, struct ddsi_sertopic * sertopic,
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struct ddsi_sertopic ** stact)
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{
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dds_entity_t tp;
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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tp = dds_create_topic_generic(pp, &sertopic, nullptr, nullptr, nullptr);
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#else
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tp = dds_create_topic_arbitrary(pp, sertopic, nullptr, nullptr, nullptr);
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#endif
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if (tp < 0) {
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ddsi_sertopic_unref(sertopic);
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} else {
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if (stact) {
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*stact = sertopic;
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}
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}
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return tp;
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}
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static dds_entity_t create_topic(dds_entity_t pp, struct ddsi_sertopic * sertopic)
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{
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dds_entity_t tp = create_topic(pp, sertopic, nullptr);
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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if (tp > 0) {
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ddsi_sertopic_unref(sertopic);
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}
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#endif
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return tp;
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////// ///////////
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/////////// PUBLICATIONS ///////////
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@ -1262,20 +1319,10 @@ static CddsPublisher * create_cdds_publisher(
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fqtopic_name.c_str(), type_support->typesupport_identifier,
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create_message_type_support(type_support->data, type_support->typesupport_identifier), false,
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rmw_cyclonedds_cpp::make_message_value_type(type_supports));
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auto ddsi_st = static_cast<struct ddsi_sertopic *>(sertopic);
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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/* dds_create_topic_generic takes over ownership, the sertopic actually used
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is returned as an uncounted reference that remains valid for the lifetime
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of the topic (and thus the writer) */
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topic = dds_create_topic_generic(node_impl->enth, &ddsi_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, the RMW layer
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(incorrectly) retains a counted reference */
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topic = dds_create_topic_arbitrary(node_impl->enth, ddsi_st, nullptr, nullptr, nullptr);
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#endif
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struct ddsi_sertopic * stact;
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topic = create_topic(node_impl->enth, sertopic, &stact);
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if (topic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_st);
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goto fail_topic;
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}
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if ((qos = create_readwrite_qos(qos_policies, false)) == nullptr) {
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@ -1289,7 +1336,7 @@ static CddsPublisher * create_cdds_publisher(
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RMW_SET_ERROR_MSG("failed to get instance handle for writer");
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goto fail_instance_handle;
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}
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pub->sertopic = ddsi_st;
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pub->sertopic = stact;
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dds_delete_qos(qos);
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dds_delete(topic);
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return pub;
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@ -1303,7 +1350,7 @@ fail_writer:
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fail_qos:
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dds_delete(topic);
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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ddsi_sertopic_unref(ddsi_st);
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ddsi_sertopic_unref(stact);
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#endif
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fail_topic:
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delete pub;
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@ -1499,23 +1546,9 @@ static CddsSubscription * create_cdds_subscription(
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fqtopic_name.c_str(), type_support->typesupport_identifier,
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create_message_type_support(type_support->data, type_support->typesupport_identifier), false,
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rmw_cyclonedds_cpp::make_message_value_type(type_supports));
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auto ddsi_st = static_cast<struct ddsi_sertopic *>(sertopic);
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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/* dds_create_topic_generic takes over ownership, the sertopic actually used
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is returned as an uncounted reference that remains valid for the lifetime
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of the topic (and thus the writer) */
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topic = dds_create_topic_generic(node_impl->enth, &ddsi_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, we don't
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need it in the RMW layer */
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topic = dds_create_topic_arbitrary(node_impl->enth, ddsi_st, nullptr, nullptr, nullptr);
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if (topic > 0) {
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ddsi_sertopic_unref(ddsi_st);
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}
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#endif
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topic = create_topic(node_impl->enth, sertopic);
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if (topic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_st);
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goto fail_topic;
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}
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if ((qos = create_readwrite_qos(qos_policies, ignore_local_publications)) == nullptr) {
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@ -2552,45 +2585,24 @@ static rmw_ret_t rmw_init_cs(
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RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "***********");
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dds_entity_t pubtopic, subtopic;
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struct sertopic_rmw * pub_st, * sub_st;
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auto pub_st = create_sertopic(
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pub_st = create_sertopic(
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pubtopic_name.c_str(), type_support->typesupport_identifier, pub_type_support, true,
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std::move(pub_msg_ts));
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auto ddsi_pub_st = static_cast<struct ddsi_sertopic *>(pub_st);
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auto sub_st = create_sertopic(
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subtopic_name.c_str(), type_support->typesupport_identifier, sub_type_support, true,
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std::move(sub_msg_ts));
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auto ddsi_sub_st = static_cast<struct ddsi_sertopic *>(sub_st);
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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/* dds_create_topic_generic takes over ownership, the sertopic actually used
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is returned as an uncounted reference that remains valid for the lifetime
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of the topic (and thus the writer) */
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pubtopic = dds_create_topic_generic(node_impl->enth, &ddsi_pub_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, the RMW layer
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(incorrectly) retains a counted reference */
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pubtopic = dds_create_topic_arbitrary(node_impl->enth, ddsi_pub_st, nullptr, nullptr, nullptr);
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#endif
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struct ddsi_sertopic * pub_stact;
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pubtopic = create_topic(node_impl->enth, pub_st, &pub_stact);
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if (pubtopic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_pub_st);
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goto fail_pubtopic;
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}
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#ifdef DDS_HAS_CREATE_TOPIC_GENERIC
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subtopic = dds_create_topic_generic(node_impl->enth, &ddsi_sub_st, nullptr, nullptr, nullptr);
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#else
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/* dds_create_topic_arbitrary never takes ownership of sertopic, we don't
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need it in the RMW layer */
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subtopic = dds_create_topic_arbitrary(node_impl->enth, ddsi_sub_st, nullptr, nullptr, nullptr);
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if (subtopic > 0) {
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ddsi_sertopic_unref(ddsi_sub_st);
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}
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#endif
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sub_st = create_sertopic(
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subtopic_name.c_str(), type_support->typesupport_identifier, sub_type_support, true,
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std::move(sub_msg_ts));
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subtopic = create_topic(node_impl->enth, sub_st);
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if (subtopic < 0) {
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RMW_SET_ERROR_MSG("failed to create topic");
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ddsi_sertopic_unref(ddsi_sub_st);
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goto fail_subtopic;
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}
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dds_qos_t * qos;
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@ -2603,7 +2615,7 @@ static rmw_ret_t rmw_init_cs(
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RMW_SET_ERROR_MSG("failed to create writer");
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goto fail_writer;
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}
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pub->sertopic = ddsi_pub_st;
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pub->sertopic = pub_stact;
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if ((sub->enth = dds_create_reader(node_impl->sub, subtopic, qos, nullptr)) < 0) {
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RMW_SET_ERROR_MSG("failed to create reader");
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goto fail_reader;
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@ -2637,7 +2649,7 @@ fail_qos:
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fail_subtopic:
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dds_delete(pubtopic);
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#ifndef DDS_HAS_CREATE_TOPIC_GENERIC
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ddsi_sertopic_unref(ddsi_pub_st);
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ddsi_sertopic_unref(pub_stact);
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#endif
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fail_pubtopic:
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return RMW_RET_ERROR;
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