Fix trying to get topic data that was already removed.

Signed-off-by: Chen.Lihui <lihui.chen@sony.com>
iuhilnehc-ynos · Jul 29, 2020 · 08632e8 · 08632e8
1 parent 8fc9ca3
commit 08632e8
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
@@ -142,7 +142,7 @@ class SubListener : public EventListenerInterface, public eprosima::fastrtps::Su
   }
 
   void
-  data_taken(eprosima::fastrtps::Subscriber * sub)
+  updateDataCount(eprosima::fastrtps::Subscriber * sub)
   {
     // Make sure to call into Fast-RTPS before taking the lock to avoid an
     // ABBA deadlock between internalMutex_ and mutexes inside of Fast-RTPS.

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -75,14 +75,16 @@ _take(
   data.data = ros_message;
   data.impl = info->type_support_impl_;
   if (info->subscriber_->takeNextData(&data, &sinfo)) {
-    info->listener_->data_taken(info->subscriber_);
+    info->listener_->updateDataCount(info->subscriber_);
 
     if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
       if (message_info) {
         _assign_message_info(identifier, message_info, &sinfo);
       }
       *taken = true;
     }
+  } else {
+    info->listener_->updateDataCount(info->subscriber_);
   }
 
   return RMW_RET_OK;
@@ -267,7 +269,7 @@ _take_serialized_message(
   data.data = &buffer;
   data.impl = nullptr;    // not used when is_cdr_buffer is true
   if (info->subscriber_->takeNextData(&data, &sinfo)) {
-    info->listener_->data_taken(info->subscriber_);
+    info->listener_->updateDataCount(info->subscriber_);
 
     if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
       auto buffer_size = static_cast<size_t>(buffer.getBufferSize());
@@ -285,6 +287,8 @@ _take_serialized_message(
       }
       *taken = true;
     }
+  } else {
+    info->listener_->updateDataCount(info->subscriber_);
   }
 
   return RMW_RET_OK;