From 94935d433b36961d1856ff9e6fd04f3c16d5d74d Mon Sep 17 00:00:00 2001
From: Adel Fakih <afakih@clearpathrobotics.com>
Date: Fri, 3 Mar 2017 09:44:28 -0500
Subject: [PATCH 1/2] Avoid deleting XmlRpcClient's while they are being still
 in use on another thread

   * Acquire clients_mutex_ before deleting the clients
   * Remove the timed wait for the clients to become not in use
   * Only delete and erase clients that are not in use
   * Clients that would still be in use would delete themselves on release
---
 clients/roscpp/src/libros/xmlrpc_manager.cpp | 36 ++++++++++++++------
 1 file changed, 25 insertions(+), 11 deletions(-)

diff --git a/clients/roscpp/src/libros/xmlrpc_manager.cpp b/clients/roscpp/src/libros/xmlrpc_manager.cpp
index 272315b3fa..7b4c0f1437 100644
--- a/clients/roscpp/src/libros/xmlrpc_manager.cpp
+++ b/clients/roscpp/src/libros/xmlrpc_manager.cpp
@@ -155,21 +155,25 @@ void XMLRPCManager::shutdown()
   server_.close();
 
   // kill the last few clients that were started in the shutdown process
-  for (V_CachedXmlRpcClient::iterator i = clients_.begin();
-       i != clients_.end(); ++i)
   {
-    for (int wait_count = 0; i->in_use_ && wait_count < 10; wait_count++)
+    boost::mutex::scoped_lock lock(clients_mutex_);
+
+    for (V_CachedXmlRpcClient::iterator i = clients_.begin();
+         i != clients_.end();)
     {
-      ROSCPP_LOG_DEBUG("waiting for xmlrpc connection to finish...");
-      ros::WallDuration(0.01).sleep();
+      if (!i->in_use_)
+      {
+        i->client_->close();
+        delete i->client_;
+        i = clients_.erase(i);
+      }
+      else
+      {
+        ++i;
+      }
     }
-
-    i->client_->close();
-    delete i->client_;
   }
 
-  clients_.clear();
-
   boost::mutex::scoped_lock lock(functions_mutex_);
   functions_.clear();
 
@@ -369,7 +373,17 @@ void XMLRPCManager::releaseXMLRPCClient(XmlRpcClient *c)
   {
     if (c == i->client_)
     {
-      i->in_use_ = false;
+      if (shutting_down_)
+      {
+        // if we are shutting down we won't be re-using the client
+        i->client_->close();
+        delete i->client_;
+        clients_.erase(i);
+      }
+      else
+      {
+        i->in_use_ = false;
+      }
       break;
     }
   }

From 624b09b5f6799c60bb744a10bd0c10790fad96e3 Mon Sep 17 00:00:00 2001
From: Adel Fakih <afakih@clearpathrobotics.com>
Date: Tue, 14 Mar 2017 15:34:24 -0400
Subject: [PATCH 2/2] Wait for clients that are in use to finish in
 XmlRpcManager::shutdown

---
 clients/roscpp/src/libros/xmlrpc_manager.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/clients/roscpp/src/libros/xmlrpc_manager.cpp b/clients/roscpp/src/libros/xmlrpc_manager.cpp
index 7b4c0f1437..6a3829f76f 100644
--- a/clients/roscpp/src/libros/xmlrpc_manager.cpp
+++ b/clients/roscpp/src/libros/xmlrpc_manager.cpp
@@ -174,6 +174,13 @@ void XMLRPCManager::shutdown()
     }
   }
 
+  // Wait for the clients that are in use to finish and remove themselves from clients_
+  for (int wait_count = 0; !clients_.empty() && wait_count < 10; wait_count++)
+  {
+    ROSCPP_LOG_DEBUG("waiting for xmlrpc connection to finish...");
+    ros::WallDuration(0.01).sleep();
+  }
+
   boost::mutex::scoped_lock lock(functions_mutex_);
   functions_.clear();