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sloretz
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Apr 2, 2021
rclpy/src/rclpy/timer.cpp
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| py::object pyclock, py::capsule pycontext, int64_t period_nsec) | ||
| { | ||
| auto clock = clock_handle_->cast<rcl_clock_t *>("rcl_clock_t"); | ||
| clock_handle_ = std::make_shared<rcl_clock_t>(*pyclock.cast<Clock>().rcl_ptr()); |
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I looks like this is creating a copy of the clock, but I don't think that's desired. If the original copy of the clock goes out of scope, then the clock will be fini()'d, and the jump callback pointers on the rcl_clock_t itself will point to free'd memory.
Instead, I think Clock should have a method that returns an std::shared_ptr<rcl_clock_t>, maybe
std::shared_ptr<rcl_clock_t>
rcl_shared_ptr()
{
return rcl_clock_
}and then Timer can store that with : clock_handle_(clock.rcl_shared_ptr())
Signed-off-by: ahcorde <ahcorde@gmail.com>
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Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
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sloretz
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Apr 2, 2021
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CI LGTM, both windows CMake warnings are in cyclonedds. Merging 🎉 |
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This PR builds on top of this other PR #745
Related to #665
This converts the Clock functions to a C++ class.
Signed-off-by: ahcorde ahcorde@gmail.com