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[service] Don't use a weak_ptr to avoid leaking #1668

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merged 2 commits into from
May 13, 2021
Merged

[service] Don't use a weak_ptr to avoid leaking #1668

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cb820ff
Don't use a weak_ptr to avoid leaking
ivanpauno May 12, 2021
371b851
Delete unused variable
ivanpauno May 12, 2021
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23 changes: 7 additions & 16 deletions rclcpp/include/rclcpp/service.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -177,25 +177,16 @@ class Service : public ServiceBase
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle = get_service_type_support_handle<ServiceT>();

std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
// rcl does the static memory allocation here
service_handle_ = std::shared_ptr<rcl_service_t>(
new rcl_service_t, [weak_node_handle, service_name](rcl_service_t * service)
new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
{
auto handle = weak_node_handle.lock();
if (handle) {
if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
"Error in destruction of rcl service handle: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
} else {
RCLCPP_ERROR_STREAM(
rclcpp::get_logger("rclcpp"),
"Error in destruction of rcl service handle " << service_name <<
": the Node Handle was destructed too early. You will leak memory");
if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
RCLCPP_ERROR(
rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
"Error in destruction of rcl service handle: %s",
rcl_get_error_string().str);
rcl_reset_error();
}
delete service;
});
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