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Nullify pointer to ClientListener in CustomClientInfo in destructor #205

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sloretz wants to merge 1 commit into from
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Nullify pointer to ClientListener in CustomClientInfo in destructor #205

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6 changes: 6 additions & 0 deletions rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_client_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,12 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
: info_(info), list_has_data_(false),
conditionMutex_(nullptr), conditionVariable_(nullptr) {}

~ClientListener()
{
// TODO(sloretz) must acquire lock before editing info_
// Remove reference to self to avoid crash in rmw_wait()
info_->listener_ = nullptr;
}

void
onNewDataMessage(eprosima::fastrtps::Subscriber * sub)
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18 changes: 13 additions & 5 deletions rmw_fastrtps_cpp/src/rmw_wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,11 @@ check_wait_set_for_data(
for (size_t i = 0; i < clients->client_count; ++i) {
void * data = clients->clients[i];
CustomClientInfo * custom_client_info = static_cast<CustomClientInfo *>(data);
if (custom_client_info && custom_client_info->listener_->hasData()) {
if (
custom_client_info &&
custom_client_info->listener_ &&
custom_client_info->listener_->hasData())
{
return true;
}
}
Expand Down Expand Up @@ -117,7 +121,9 @@ rmw_wait(
for (size_t i = 0; i < clients->client_count; ++i) {
void * data = clients->clients[i];
CustomClientInfo * custom_client_info = static_cast<CustomClientInfo *>(data);
custom_client_info->listener_->attachCondition(conditionMutex, conditionVariable);
if (custom_client_info->listener_) {
custom_client_info->listener_->attachCondition(conditionMutex, conditionVariable);
}
}
}

Expand Down Expand Up @@ -184,9 +190,11 @@ rmw_wait(
for (size_t i = 0; i < clients->client_count; ++i) {
void * data = clients->clients[i];
CustomClientInfo * custom_client_info = static_cast<CustomClientInfo *>(data);
custom_client_info->listener_->detachCondition();
if (!custom_client_info->listener_->hasData()) {
clients->clients[i] = 0;
if (custom_client_info->listener_) {
custom_client_info->listener_->detachCondition();
if (!custom_client_info->listener_->hasData()) {
clients->clients[i] = 0;
}
}
}
}
Expand Down