lock just once during initialization of LifecycleNodeInterfaceImpl.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
ros2 · Dec 20, 2021 · e28ab16 · e28ab16
1 parent d88adf8
commit e28ab16
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Showing 2 changed files with 12 additions and 17 deletions.
diff --git a/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp b/rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
@@ -92,29 +92,25 @@ class LifecycleNode::LifecycleNodeInterfaceImpl
     // The publisher takes a C-Typesupport since the publishing (i.e. creating
     // the message) is done fully in RCL.
     // Services are handled in C++, so that it needs a C++ typesupport structure.
-    rcl_ret_t ret;
-    {
-      std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
-      state_machine_ = rcl_lifecycle_get_zero_initialized_state_machine();
-      ret = rcl_lifecycle_state_machine_init(
-        &state_machine_,
-        node_handle,
-        ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
-        rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(),
-        rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(),
-        rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableStatesSrv>(),
-        rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableTransitionsSrv>(),
-        rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableTransitionsSrv>(),
-        &state_machine_options);
-    }
+    std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
+    state_machine_ = rcl_lifecycle_get_zero_initialized_state_machine();
+    rcl_ret_t ret = rcl_lifecycle_state_machine_init(
+      &state_machine_,
+      node_handle,
+      ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
+      rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(),
+      rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(),
+      rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableStatesSrv>(),
+      rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableTransitionsSrv>(),
+      rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableTransitionsSrv>(),
+      &state_machine_options);
     if (ret != RCL_RET_OK) {
       throw std::runtime_error(
               std::string("Couldn't initialize state machine for node ") +
               node_base_interface_->get_name());
     }
 
     if (enable_communication_interface) {
-      std::lock_guard<std::recursive_mutex> lock(state_machine_mutex_);
       { // change_state
         auto cb = std::bind(
           &LifecycleNodeInterfaceImpl::on_change_state, this,

diff --git a/rclcpp_lifecycle/src/state.cpp b/rclcpp_lifecycle/src/state.cpp
@@ -96,7 +96,6 @@ State::operator=(const State & rhs)
 
   // hold the lock until state_handle_ is reconstructed
   std::lock_guard<std::recursive_mutex> lock(state_handle_mutex_);
-
   // reset all currently used resources
   reset();