Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr…

… dependency Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
ros2 · Sep 11, 2020 · cbf3359 · cbf3359
1 parent d66cd96
commit cbf3359
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Showing 5 changed files with 32 additions and 5 deletions.
diff --git a/rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp b/rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp
@@ -64,9 +64,14 @@ class StaticExecutorEntitiesCollector final
   void
   init(
     rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
+    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
     rcl_guard_condition_t * executor_guard_condition);
 
+  /// Finalize StaticExecutorEntitiesCollector to clear resources
+  RCLCPP_PUBLIC
+  void
+  fini();
+
   RCLCPP_PUBLIC
   void
   execute() override;

diff --git a/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp b/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
@@ -194,14 +194,16 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor
 
     entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
 
+    rclcpp::FutureReturnCode ret = rclcpp::FutureReturnCode::INTERRUPTED;
     while (rclcpp::ok(this->context_)) {
       // Do one set of work.
       entities_collector_->refresh_wait_set(timeout_left);
       execute_ready_executables();
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
-        return rclcpp::FutureReturnCode::SUCCESS;
+        ret = rclcpp::FutureReturnCode::SUCCESS;
+        break;
       }
       // If the original timeout is < 0, then this is blocking, never TIMEOUT.
       if (timeout_ns < std::chrono::nanoseconds::zero()) {
@@ -210,14 +212,17 @@ class StaticSingleThreadedExecutor : public rclcpp::Executor
       // Otherwise check if we still have time to wait, return TIMEOUT if not.
       auto now = std::chrono::steady_clock::now();
       if (now >= end_time) {
-        return rclcpp::FutureReturnCode::TIMEOUT;
+        ret = rclcpp::FutureReturnCode::TIMEOUT;
+        break;
       }
       // Subtract the elapsed time from the original timeout.
       timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
     }
 
+    entities_collector_->fini();
+
     // The future did not complete before ok() returned false, return INTERRUPTED.
-    return rclcpp::FutureReturnCode::INTERRUPTED;
+    return ret;
   }
 
   /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking

diff --git a/rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp b/rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp
@@ -61,7 +61,7 @@ StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
 void
 StaticExecutorEntitiesCollector::init(
   rcl_wait_set_t * p_wait_set,
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
+  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
   rcl_guard_condition_t * executor_guard_condition)
 {
   // Empty initialize executable list
@@ -80,6 +80,13 @@ StaticExecutorEntitiesCollector::init(
   execute();
 }
 
+void
+StaticExecutorEntitiesCollector::fini()
+{
+  memory_strategy_->clear_handles();
+  exec_list_.clear();
+}
+
 void
 StaticExecutorEntitiesCollector::execute()
 {

diff --git a/rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp
@@ -48,6 +48,8 @@ StaticSingleThreadedExecutor::spin()
     entities_collector_->refresh_wait_set();
     execute_ready_executables();
   }
+
+  entities_collector_->fini();
 }
 
 void

diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -410,6 +410,14 @@ class TestWaitable : public rclcpp::Waitable
     }
   }
 
+  ~TestWaitable()
+  {
+    rcl_ret_t ret = rcl_guard_condition_fini(&gc_);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
+    }
+  }
+
   bool
   add_to_wait_set(rcl_wait_set_t * wait_set) override
   {