clear intra-process manager on client/server destructors (#94)

Mauro Passerino · apojomovsky · commit 378223dacb72 · 2024-06-21T16:41:50.000-04:00
diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -369,7 +369,7 @@ class IntraProcessManager
       auto warning_msg =
         "Intra-process service gone out of scope. "
         "Do inter-process requests.\n"
-        "Client topic name: " + std::string(cli->get_service_name());
+        "Client service name: " + std::string(cli->get_service_name());
       RCLCPP_WARN(rclcpp::get_logger("rclcpp"), warning_msg.c_str());
       return;
     }
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -668,6 +668,19 @@ class Client : public ClientBase
       }
       it = goal_handles_.erase(it);
     }
+
+    if (!use_intra_process_) {
+      return;
+    }
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      // TODO(ivanpauno): should this raise an error?
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "Intra process manager died before than an action client.");
+      return;
+    }
+    ipm->remove_action_client(ipc_action_client_id_);
   }
 
 private:
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -478,7 +478,21 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
     }
   }
 
-  virtual ~Server() = default;
+  virtual ~Server()
+  {
+    if (!use_intra_process_) {
+      return;
+    }
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      // TODO(ivanpauno): should this raise an error?
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "Intra process manager died before than an action server.");
+      return;
+    }
+    ipm->remove_action_server(ipc_action_server_id_);
+  }
 
 protected:
   // Intra-process version of execute_goal_request_received_

Original file line number	Diff line number	Diff line change
`@@ -369,7 +369,7 @@ class IntraProcessManager`
`369`	`369`	`auto warning_msg =`
`370`	`370`	`"Intra-process service gone out of scope. "`
`371`	`371`	`"Do inter-process requests.\n"`
`372`		`- "Client topic name: " + std::string(cli->get_service_name());`
	`372`	`+ "Client service name: " + std::string(cli->get_service_name());`
`373`	`373`	`RCLCPP_WARN(rclcpp::get_logger("rclcpp"), warning_msg.c_str());`
`374`	`374`	`return;`
`375`	`375`	`}`
Original file line number	Diff line number	Diff line change
`@@ -668,6 +668,19 @@ class Client : public ClientBase`
`668`	`668`	`}`
`669`	`669`	`it = goal_handles_.erase(it);`
`670`	`670`	`}`
	`671`	`+`
	`672`	`+ if (!use_intra_process_) {`
	`673`	`+ return;`
	`674`	`+ }`
	`675`	`+ auto ipm = weak_ipm_.lock();`
	`676`	`+ if (!ipm) {`
	`677`	`+ // TODO(ivanpauno): should this raise an error?`
	`678`	`+ RCLCPP_WARN(`
	`679`	`+ rclcpp::get_logger("rclcpp"),`
	`680`	`+ "Intra process manager died before than an action client.");`
	`681`	`+ return;`
	`682`	`+ }`
	`683`	`+ ipm->remove_action_client(ipc_action_client_id_);`
`671`	`684`	`}`
`672`	`685`
`673`	`686`	`private:`