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Use weak_ptr to store context in GraphListener #906

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Merged
ivanpauno merged 4 commits into from
Dec 2, 2019
Merged

Use weak_ptr to store context in GraphListener #906

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7b458d4
Clear sub contexts to make context shared_ptr not to be hold.
Barry-Xu-2018 Oct 22, 2019
5bd65eb
refactor to use weak_ptr to store sub_context instead of share_ptr
Barry-Xu-2018 Nov 19, 2019
65641cd
revert previous modification, use weak_ptr to store context in graph …
Barry-Xu-2018 Nov 27, 2019
06f549e
use interrupt_guard_condition_context_ directly
Barry-Xu-2018 Nov 28, 2019
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3 changes: 3 additions & 0 deletions rclcpp/src/rclcpp/context.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,9 @@ Context::shutdown(const std::string & reason)
++it;
}
}
// clear sub contexts
std::lock_guard<std::recursive_mutex> lock(sub_contexts_mutex_);
sub_contexts_.clear();

@wjwwood wjwwood Nov 18, 2019

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I don't think this is a safe solution to this issue because things may re-add the sub contexts after shutdown. See my comment:

#893 (comment)

@Barry-Xu-2018 Barry-Xu-2018 Nov 19, 2019

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@wjwwood

Thanks for your comments.
Based on your comments #893 (comment), I will use weak pointer to fix this issue

return true;
}

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