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Finalize context iff shutdown. (#196)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-06-23 12:30:57 -03:00 • committed by Alejandro Hernández Cordero
parent 5559dfa221
commit cab4b81278
1 changed files with 10 additions and 2 deletions
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12
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -263,6 +263,9 @@ struct rmw_context_impl_t
size_t node_count{0}; size_t node_count{0};
std::mutex initialization_mutex; std::mutex initialization_mutex;
/* Shutdown flag */
bool is_shutdown{false};
/* suffix for GUIDs to construct unique client/service ids /* suffix for GUIDs to construct unique client/service ids
(protected by initialization_mutex) */ (protected by initialization_mutex) */
uint32_t client_service_id; uint32_t client_service_id;
@ -1148,8 +1151,8 @@ extern "C" rmw_ret_t rmw_shutdown(rmw_context_t * context)
context->implementation_identifier, context->implementation_identifier,
eclipse_cyclonedds_identifier, eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION); return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
// Nothing to do here for now. RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
// This is just the middleware's notification that shutdown was called. context->impl->is_shutdown = true;
return RMW_RET_OK; return RMW_RET_OK;
} }
@ -1161,6 +1164,11 @@ extern "C" rmw_ret_t rmw_context_fini(rmw_context_t * context)
context->implementation_identifier, context->implementation_identifier,
eclipse_cyclonedds_identifier, eclipse_cyclonedds_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION); return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context->impl, RMW_RET_INVALID_ARGUMENT);
if (!context->impl->is_shutdown) {
RCUTILS_SET_ERROR_MSG("context has not been shutdown");
return RMW_RET_INVALID_ARGUMENT;
}
delete context->impl; delete context->impl;
*context = rmw_get_zero_initialized_context(); *context = rmw_get_zero_initialized_context();
return RMW_RET_OK; return RMW_RET_OK;