Avoid deadlock if graph update fails. (#438)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Oct 15, 2020 · 608f90c · 608f90c
1 parent afa2666
commit 608f90c
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Showing 4 changed files with 19 additions and 12 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -23,6 +23,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/publisher.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
 
@@ -72,8 +73,11 @@ rmw_create_publisher(
     eprosima_fastrtps_identifier,
     return nullptr);
 
+  auto participant_info =
+    static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
+
   rmw_publisher_t * publisher = rmw_fastrtps_cpp::create_publisher(
-    static_cast<CustomParticipantInfo *>(node->context->impl->participant_info),
+    participant_info,
     type_supports,
     topic_name,
     qos_policies,
@@ -104,8 +108,8 @@ rmw_create_publisher(
       rmw_reset_error();
       static_cast<void>(common_context->graph_cache.dissociate_writer(
         info->publisher_gid, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_publisher(
-        eprosima_fastrtps_identifier, node, publisher);
+      rmw_ret = rmw_fastrtps_shared_cpp::destroy_publisher(
+        eprosima_fastrtps_identifier, participant_info, publisher);
       if (RMW_RET_OK != rmw_ret) {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -24,6 +24,7 @@
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
+#include "rmw_fastrtps_shared_cpp/subscription.hpp"
 
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "rmw_fastrtps_cpp/subscription.hpp"
@@ -100,8 +101,8 @@ rmw_create_subscription(
       rmw_reset_error();
       static_cast<void>(common_context->graph_cache.dissociate_writer(
         info->subscription_gid_, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
-        eprosima_fastrtps_identifier, node, subscription);
+      rmw_ret = rmw_fastrtps_shared_cpp::destroy_subscription(
+        eprosima_fastrtps_identifier, participant_info, subscription);
       if (RMW_RET_OK != rmw_ret) {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -22,6 +22,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/publisher.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
 
@@ -74,10 +75,10 @@ rmw_create_publisher(
     eprosima_fastrtps_identifier,
     return nullptr);
 
-  auto impl = static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
-
+  auto participant_info =
+    static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
   rmw_publisher_t * publisher = rmw_fastrtps_dynamic_cpp::create_publisher(
-    impl,
+    participant_info,
     type_supports,
     topic_name,
     qos_policies,
@@ -108,8 +109,8 @@ rmw_create_publisher(
       rmw_reset_error();
       static_cast<void>(common_context->graph_cache.dissociate_writer(
         info->publisher_gid, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_publisher(
-        eprosima_fastrtps_identifier, node, publisher);
+      rmw_ret = rmw_fastrtps_shared_cpp::destroy_publisher(
+        eprosima_fastrtps_identifier, participant_info, publisher);
       if (RMW_RET_OK != rmw_ret) {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -23,6 +23,7 @@
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
+#include "rmw_fastrtps_shared_cpp/subscription.hpp"
 
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
 #include "rmw_fastrtps_dynamic_cpp/subscription.hpp"
@@ -103,8 +104,8 @@ rmw_create_subscription(
       rmw_reset_error();
       static_cast<void>(common_context->graph_cache.dissociate_writer(
         info->subscription_gid_, common_context->gid, node->name, node->namespace_));
-      rmw_ret = rmw_fastrtps_shared_cpp::__rmw_destroy_subscription(
-        eprosima_fastrtps_identifier, node, subscription);
+      rmw_ret = rmw_fastrtps_shared_cpp::destroy_subscription(
+        eprosima_fastrtps_identifier, participant_info, subscription);
       if (RMW_RET_OK != rmw_ret) {
         RMW_SAFE_FWRITE_TO_STDERR(rmw_get_error_string().str);
         RMW_SAFE_FWRITE_TO_STDERR(" during '" RCUTILS_STRINGIFY(__function__) "' cleanup\n");