remove mutex lock from constructors.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
ros2 · Nov 16, 2021 · 3a3d395 · 3a3d395
1 parent 1644625
commit 3a3d395
Showing 1 changed file with 14 additions and 20 deletions.
diff --git a/rclcpp_lifecycle/src/state.cpp b/rclcpp_lifecycle/src/state.cpp
@@ -44,22 +44,19 @@ State::State(
     throw std::runtime_error("Lifecycle State cannot have an empty label.");
   }
 
-  {
-    std::lock_guard<std::recursive_mutex> lock(state_handle_mutex_);
-    state_handle_ = static_cast<rcl_lifecycle_state_t *>(
-      allocator_.allocate(sizeof(rcl_lifecycle_state_t), allocator_.state));
-    if (!state_handle_) {
-      throw std::runtime_error("failed to allocate memory for rcl_lifecycle_state_t");
-    }
-    // zero initialize
-    state_handle_->id = 0;
-    state_handle_->label = nullptr;
-
-    auto ret = rcl_lifecycle_state_init(state_handle_, id, label.c_str(), &allocator_);
-    if (ret != RCL_RET_OK) {
-      reset();
-      rclcpp::exceptions::throw_from_rcl_error(ret);
-    }
+  state_handle_ = static_cast<rcl_lifecycle_state_t *>(
+    allocator_.allocate(sizeof(rcl_lifecycle_state_t), allocator_.state));
+  if (!state_handle_) {
+    throw std::runtime_error("failed to allocate memory for rcl_lifecycle_state_t");
+  }
+  // zero initialize
+  state_handle_->id = 0;
+  state_handle_->label = nullptr;
+
+  auto ret = rcl_lifecycle_state_init(state_handle_, id, label.c_str(), &allocator_);
+  if (ret != RCL_RET_OK) {
+    reset();
+    rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 }
 
@@ -74,10 +71,7 @@ State::State(
     throw std::runtime_error("rcl_lifecycle_state_handle is null");
   }
 
-  {
-    std::lock_guard<std::recursive_mutex> lock(state_handle_mutex_);
-    state_handle_ = const_cast<rcl_lifecycle_state_t *>(rcl_lifecycle_state_handle);
-  }
+  state_handle_ = const_cast<rcl_lifecycle_state_t *>(rcl_lifecycle_state_handle);
 }
 
 State::State(const State & rhs)