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Fix data race in ~EventHandlerBase #2349

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Nov 14, 2023
Merged

Fix data race in ~EventHandlerBase #2349

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10 changes: 10 additions & 0 deletions rclcpp/include/rclcpp/event_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,16 @@ class EventHandler : public EventHandlerBase
}
}

~EventHandler()
{
// Since the rmw event listener holds a reference to the
// "on ready" callback, we need to clear it on destruction of this class.
// This clearing is not needed for other rclcpp entities like pub/subs, since
// they do own the underlying rmw entities, which are destroyed
// on their rclcpp destructors, thus no risk of dangling pointers.
clear_on_ready_callback();
}

/// Take data so that the callback cannot be scheduled again
std::shared_ptr<void>
take_data() override
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7 changes: 0 additions & 7 deletions rclcpp/src/rclcpp/event_handler.cpp
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Expand Up @@ -39,13 +39,6 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(

EventHandlerBase::~EventHandlerBase()
{
// Since the rmw event listener holds a reference to
// this callback, we need to clear it on destruction of this class.
// This clearing is not needed for other rclcpp entities like pub/subs, since
// they do own the underlying rmw entities, which are destroyed
// on their rclcpp destructors, thus no risk of dangling pointers.
clear_on_ready_callback();

if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
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