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Fix that not to delete some objects after destroying functions #236

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merged 4 commits into from
Sep 11, 2020
Merged

Fix that not to delete some objects after destroying functions #236

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4fc5de7
Fix that not to delete some objects after destroying functions
Sep 4, 2020
def772c
avoid double free
Sep 7, 2020
6e20e18
Use unique_ptr for CddsCS
Sep 9, 2020
04bf5bd
Keep same destroy behavior for data with [client/service]_name
Sep 10, 2020
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97 changes: 59 additions & 38 deletions rmw_cyclonedds_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3819,6 +3819,8 @@ static rmw_ret_t rmw_init_cs(
fail_subtopic:
dds_delete(pubtopic);
fail_pubtopic:
delete sub;
delete pub;
return RMW_RET_ERROR;
}

Expand All @@ -3827,6 +3829,14 @@ static void rmw_fini_cs(CddsCS * cs)
dds_delete(cs->sub->rdcondh);
dds_delete(cs->sub->enth);
dds_delete(cs->pub->enth);
if (cs->sub) {
delete cs->sub;
cs->sub = NULL;
}
if (cs->pub) {
delete cs->pub;
cs->pub = NULL;
}
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}

static rmw_ret_t destroy_client(const rmw_node_t * node, rmw_client_t * client)
Expand All @@ -3835,30 +3845,34 @@ static rmw_ret_t destroy_client(const rmw_node_t * node, rmw_client_t * client)
RET_WRONG_IMPLID(node);
RET_NULL(client);
RET_WRONG_IMPLID(client);
auto info = static_cast<CddsClient *>(client->data);
clean_waitset_caches();

{
// Update graph
auto common = &node->context->impl->common;
std::lock_guard<std::mutex> guard(common->node_update_mutex);
static_cast<void>(common->graph_cache.dissociate_writer(
info->client.pub->gid, common->gid,
node->name, node->namespace_));
rmw_dds_common::msg::ParticipantEntitiesInfo msg =
common->graph_cache.dissociate_reader(
info->client.sub->gid, common->gid, node->name,
node->namespace_);
if (RMW_RET_OK != rmw_publish(
common->pub,
static_cast<void *>(&msg),
nullptr))
if (client->data) {
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auto info = static_cast<CddsClient *>(client->data);
{
RMW_SET_ERROR_MSG("failed to publish ParticipantEntitiesInfo when destroying service");
// Update graph
auto common = &node->context->impl->common;
std::lock_guard<std::mutex> guard(common->node_update_mutex);
static_cast<void>(common->graph_cache.dissociate_writer(
info->client.pub->gid, common->gid,
node->name, node->namespace_));
rmw_dds_common::msg::ParticipantEntitiesInfo msg =
common->graph_cache.dissociate_reader(
info->client.sub->gid, common->gid, node->name,
node->namespace_);
if (RMW_RET_OK != rmw_publish(
common->pub,
static_cast<void *>(&msg),
nullptr))
{
RMW_SET_ERROR_MSG("failed to publish ParticipantEntitiesInfo when destroying service");
}
}
}

rmw_fini_cs(&info->client);
rmw_fini_cs(&info->client);
delete info;
client->data = NULL;
}
rmw_free(const_cast<char *>(client->service_name));
rmw_client_free(client);
return RMW_RET_OK;
Expand Down Expand Up @@ -3915,6 +3929,7 @@ extern "C" rmw_client_t * rmw_create_client(
rmw_client_free(rmw_client);
fail_client:
rmw_fini_cs(&info->client);
delete info;
return nullptr;
}

Expand All @@ -3929,30 +3944,35 @@ static rmw_ret_t destroy_service(const rmw_node_t * node, rmw_service_t * servic
RET_WRONG_IMPLID(node);
RET_NULL(service);
RET_WRONG_IMPLID(service);
auto info = static_cast<CddsService *>(service->data);
clean_waitset_caches();

{
// Update graph
auto common = &node->context->impl->common;
std::lock_guard<std::mutex> guard(common->node_update_mutex);
static_cast<void>(common->graph_cache.dissociate_writer(
info->service.pub->gid, common->gid,
node->name, node->namespace_));
rmw_dds_common::msg::ParticipantEntitiesInfo msg =
common->graph_cache.dissociate_reader(
info->service.sub->gid, common->gid, node->name,
node->namespace_);
if (RMW_RET_OK != rmw_publish(
common->pub,
static_cast<void *>(&msg),
nullptr))
if (service->data) {
auto info = static_cast<CddsService *>(service->data);

{
RMW_SET_ERROR_MSG("failed to publish ParticipantEntitiesInfo when destroying service");
// Update graph
auto common = &node->context->impl->common;
std::lock_guard<std::mutex> guard(common->node_update_mutex);
static_cast<void>(common->graph_cache.dissociate_writer(
info->service.pub->gid, common->gid,
node->name, node->namespace_));
rmw_dds_common::msg::ParticipantEntitiesInfo msg =
common->graph_cache.dissociate_reader(
info->service.sub->gid, common->gid, node->name,
node->namespace_);
if (RMW_RET_OK != rmw_publish(
common->pub,
static_cast<void *>(&msg),
nullptr))
{
RMW_SET_ERROR_MSG("failed to publish ParticipantEntitiesInfo when destroying service");
}
}
}

rmw_fini_cs(&info->service);
rmw_fini_cs(&info->service);
delete info;
service->data = NULL;
}
rmw_free(const_cast<char *>(service->service_name));
rmw_service_free(service);
return RMW_RET_OK;
Expand Down Expand Up @@ -4007,6 +4027,7 @@ extern "C" rmw_service_t * rmw_create_service(
rmw_service_free(rmw_service);
fail_service:
rmw_fini_cs(&info->service);
delete info;
return nullptr;
}

Expand Down