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Solved in pub, sub, client, service, when run_xrce_session fails, get… #265

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Solved in pub, sub, client, service, when run_xrce_session fails, get… #265

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1 change: 0 additions & 1 deletion rmw_microxrcedds_c/src/rmw_client.c
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Original file line number Diff line number Diff line change
Expand Up @@ -160,7 +160,6 @@ rmw_create_client(
custom_node->context, custom_node->context->creation_stream, client_req,
custom_node->context->creation_timeout))
{
put_memory(&client_memory, &custom_client->mem);
goto fail;
}

Expand Down
13 changes: 8 additions & 5 deletions rmw_microxrcedds_c/src/rmw_publisher.c
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ rmw_create_publisher(
const rmw_publisher_options_t * publisher_options)
{
(void)publisher_options;

rmw_uxrce_publisher_t *publisher_data = NULL;
rmw_publisher_t * rmw_publisher = NULL;
if (!node) {
RMW_UROS_TRACE_MESSAGE("node handle is null")
Expand Down Expand Up @@ -112,6 +112,8 @@ rmw_create_publisher(
custom_publisher->cs_cb_size = NULL;
custom_publisher->cs_cb_serialization = NULL;

rmw_publisher->data = custom_publisher;

const rosidl_message_type_support_t * type_support_xrce = NULL;
#ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE
type_support_xrce = get_message_typesupport_handle(
Expand Down Expand Up @@ -171,12 +173,9 @@ rmw_create_publisher(
custom_node->context, custom_node->context->creation_stream, publisher_req,
custom_node->context->creation_timeout))
{
put_memory(&publisher_memory, &custom_publisher->mem);
goto fail;
}

rmw_publisher->data = custom_publisher;

// Create datawriter
custom_publisher->datawriter_id = uxr_object_id(
custom_node->context->id_datawriter++,
Expand Down Expand Up @@ -212,13 +211,17 @@ rmw_create_publisher(
custom_node->context, custom_node->context->creation_stream, datawriter_req,
custom_node->context->creation_timeout))
{
put_memory(&publisher_memory, &custom_publisher->mem);
goto fail;
}
}

return rmw_publisher;
fail:
publisher_data = (rmw_uxrce_publisher_t *)rmw_publisher->data;
if (publisher_data != NULL && publisher_data->topic != NULL)
{
rmw_uxrce_fini_topic_memory(publisher_data->topic);
}
rmw_uxrce_fini_publisher_memory(rmw_publisher);
rmw_publisher = NULL;
return rmw_publisher;
Expand Down
1 change: 0 additions & 1 deletion rmw_microxrcedds_c/src/rmw_service.c
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Original file line number Diff line number Diff line change
Expand Up @@ -159,7 +159,6 @@ rmw_create_service(
custom_node->context->creation_timeout))
{
RMW_UROS_TRACE_MESSAGE("Issues creating Micro XRCE-DDS entities")
put_memory(&service_memory, &custom_service->mem);
goto fail;
}

Expand Down
14 changes: 8 additions & 6 deletions rmw_microxrcedds_c/src/rmw_subscription.c
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ rmw_create_subscription(
const rmw_subscription_options_t * subscription_options)
{
(void)subscription_options;

rmw_uxrce_subscription_t *subscription_data = NULL;
rmw_subscription_t * rmw_subscription = NULL;
if (!node) {
RMW_UROS_TRACE_MESSAGE("node handle is null")
Expand Down Expand Up @@ -103,6 +103,8 @@ rmw_create_subscription(
custom_subscription->owner_node = custom_node;
custom_subscription->qos = *qos_policies;

rmw_subscription->data = custom_subscription;

const rosidl_message_type_support_t * type_support_xrce = NULL;
#ifdef ROSIDL_TYPESUPPORT_MICROXRCEDDS_C__IDENTIFIER_VALUE
type_support_xrce = get_message_typesupport_handle(
Expand Down Expand Up @@ -159,7 +161,6 @@ rmw_create_subscription(
custom_node->context, custom_node->context->creation_stream, subscriber_req,
custom_node->context->creation_timeout))
{
put_memory(&subscription_memory, &custom_subscription->mem);
goto fail;
}

Expand Down Expand Up @@ -198,12 +199,8 @@ rmw_create_subscription(
custom_node->context->creation_timeout))
{
RMW_UROS_TRACE_MESSAGE("Issues creating Micro XRCE-DDS entities")
put_memory(&subscription_memory, &custom_subscription->mem);
goto fail;
}

rmw_subscription->data = custom_subscription;

uxrDeliveryControl delivery_control;
delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
delivery_control.min_pace_period = 0;
Expand All @@ -223,6 +220,11 @@ rmw_create_subscription(
return rmw_subscription;

fail:
subscription_data = (rmw_uxrce_subscription_t *)rmw_subscription->data;
if ((subscription_data != NULL) && (subscription_data->topic != NULL))
{
rmw_uxrce_fini_topic_memory(subscription_data->topic);
}
rmw_uxrce_fini_subscription_memory(rmw_subscription);
rmw_subscription = NULL;
return rmw_subscription;
Expand Down