lifecycle node dtor shutdown should be called only in primary state.

fujitatomoya · fujitatomoya · commit 2f451b67e0e2 · 2024-05-11T09:32:22.000-07:00
Signed-off-by: Tomoya Fujita &lt;Tomoya.Fujita@sony.com&gt;
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -152,10 +152,9 @@ LifecycleNode::LifecycleNode(
 
 LifecycleNode::~LifecycleNode()
 {
-  // shutdown if necessary to avoid leaving the device in unknown state
-  if (LifecycleNode::get_current_state().id() !=
-    lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
-  {
+  auto current_state = LifecycleNode::get_current_state().id();
+  // shutdown if necessary to avoid leaving the device in any other primary state
+  if (current_state < lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
     auto ret = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
     auto finalized = LifecycleNode::shutdown(ret);
     if (finalized.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED ||
@@ -166,6 +165,11 @@ LifecycleNode::~LifecycleNode()
         "Shutdown error in destruction of LifecycleNode: final state(%s)",
         finalized.label().c_str());
     }
+  } else if (current_state > lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp_lifecycle"),
+      "Cannot shutdown the LifecycleNode in transition state(%u)",
+      current_state);
   }
 
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
