refactor!: unify the initialized_ flag

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -206,6 +206,7 @@ std::shared_ptr<ClientData> ClientData::make(
     return nullptr;
   }
 
+  client_data->initialized_ = true;
   return client_data;
 }
 
@@ -230,6 +231,7 @@ ClientData::ClientData(
   wait_set_data_(nullptr),
   sequence_number_(1),
   is_shutdown_(false),
+  initialized_(false),
   num_in_flight_(0)
 {
   // Do nothing.
@@ -265,7 +267,6 @@ bool ClientData::init(std::shared_ptr<ZenohSession> session)
   }
 
   free_ros_keyexpr.cancel();
-
   return true;
 }
 
@@ -512,7 +513,7 @@ bool ClientData::detach_condition_and_queue_is_empty()
 ///=============================================================================
 void ClientData::_shutdown()
 {
-  if (is_shutdown_) {
+  if (is_shutdown_ || !initialized_) {
     return;
   }
 
@@ -523,6 +524,7 @@ void ClientData::_shutdown()
 
   sess_.reset();
   is_shutdown_ = true;
+  initialized_ = false;
 }
 
 ///=============================================================================

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

@@ -150,6 +150,8 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   size_t sequence_number_;
   // Shutdown flag.
   bool is_shutdown_;
+  // Whether the object has ever successfully been initialized.
+  bool initialized_;
   size_t num_in_flight_;
 };
 using ClientDataPtr = std::shared_ptr<ClientData>;

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -68,13 +68,15 @@ std::shared_ptr<NodeData> NodeData::make(
     return nullptr;
   }
 
-  return std::shared_ptr<NodeData>(
+  auto node_data = std::shared_ptr<NodeData>(
     new NodeData{
       node,
       id,
       std::move(entity),
       std::move(token)
     });
+  node_data->initialized_ = true;
+  return node_data;
 }
 
 ///=============================================================================
@@ -88,6 +90,7 @@ NodeData::NodeData(
   entity_(std::move(entity)),
   token_(std::move(token)),
   is_shutdown_(false),
+  initialized_(false),
   pubs_({})
 {
   // Do nothing.
@@ -392,14 +395,15 @@ rmw_ret_t NodeData::shutdown()
 {
   std::lock_guard<std::recursive_mutex> lock(mutex_);
   rmw_ret_t ret = RMW_RET_OK;
-  if (is_shutdown_) {
+  if (is_shutdown_ || !initialized_) {
     return ret;
   }
 
   // Unregister this node from the ROS graph.
   z_liveliness_undeclare_token(z_move(token_));
 
   is_shutdown_ = true;
+  initialized_ = false;
   return ret;
 }
 

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -142,6 +142,8 @@ class NodeData final
   z_owned_liveliness_token_t token_;
   // Shutdown flag.
   bool is_shutdown_;
+  // Whether the object has ever successfully been initialized.
+  bool initialized_;
   // Map of publishers.
   std::unordered_map<const rmw_publisher_t *, PublisherDataPtr> pubs_;
   // Map of subscriptions.

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -187,7 +187,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
   undeclare_z_publisher_cache.cancel();
   undeclare_z_publisher.cancel();
 
-  return std::shared_ptr<PublisherData>(
+  auto pub_data = std::shared_ptr<PublisherData>(
     new PublisherData{
       node,
       std::move(entity),
@@ -198,6 +198,8 @@ std::shared_ptr<PublisherData> PublisherData::make(
       type_support->data,
       std::move(message_type_support)
     });
+  pub_data->initialized_ = true;
+  return pub_data;
 }
 
 ///=============================================================================
@@ -219,7 +221,8 @@ PublisherData::PublisherData(
   type_support_impl_(type_support_impl),
   type_support_(std::move(type_support)),
   sequence_number_(1),
-  is_shutdown_(false)
+  is_shutdown_(false),
+  initialized_(false)
 {
   events_mgr_ = std::make_shared<EventsManager>();
 }
@@ -426,7 +429,7 @@ PublisherData::~PublisherData()
 rmw_ret_t PublisherData::shutdown()
 {
   std::lock_guard<std::mutex> lock(mutex_);
-  if (is_shutdown_) {
+  if (is_shutdown_ || !initialized_) {
     return RMW_RET_OK;
   }
 
@@ -443,6 +446,7 @@ rmw_ret_t PublisherData::shutdown()
 
   sess_.reset();
   is_shutdown_ = true;
+  initialized_ = false;
   return RMW_RET_OK;
 }
 

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -116,6 +116,8 @@ class PublisherData final
   size_t sequence_number_;
   // Shutdown flag.
   bool is_shutdown_;
+  // Whether the object has ever successfully been initialized.
+  bool initialized_;
 };
 using PublisherDataPtr = std::shared_ptr<PublisherData>;
 using PublisherDataConstPtr = std::shared_ptr<const PublisherData>;

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -209,6 +209,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
   undeclare_z_queryable.cancel();
   free_token.cancel();
 
+  service_data->initialized_ = true;
   return service_data;
 }
 
@@ -229,7 +230,8 @@ ServiceData::ServiceData(
   request_type_support_(std::move(request_type_support)),
   response_type_support_(std::move(response_type_support)),
   wait_set_data_(nullptr),
-  is_shutdown_(false)
+  is_shutdown_(false),
+  initialized_(false)
 {
   // Do nothing.
 }
@@ -493,7 +495,7 @@ rmw_ret_t ServiceData::shutdown()
 {
   rmw_ret_t ret = RMW_RET_OK;
   std::lock_guard<std::mutex> lock(mutex_);
-  if (is_shutdown_) {
+  if (is_shutdown_ || !initialized_) {
     return ret;
   }
 
@@ -503,6 +505,7 @@ rmw_ret_t ServiceData::shutdown()
 
   sess_.reset();
   is_shutdown_ = true;
+  initialized_ = false;
   return RMW_RET_OK;
 }
 

rmw_zenoh_cpp/src/detail/rmw_service_data.hpp

@@ -132,6 +132,8 @@ class ServiceData final
   DataCallbackManager data_callback_mgr_;
   // Shutdown flag.
   bool is_shutdown_;
+  // Whether the object has ever successfully been initialized.
+  bool initialized_;
 };
 using ServiceDataPtr = std::shared_ptr<ServiceData>;
 using ServiceDataConstPtr = std::shared_ptr<const ServiceData>;