Unregister callbacks when destroying an InstructionExecutor

urfeex · urfeex · commit ebe9eaed4e42 · 2025-03-03T11:31:01.000+01:00
diff --git a/include/ur_client_library/ur/instruction_executor.h b/include/ur_client_library/ur/instruction_executor.h
@@ -48,6 +48,12 @@ class InstructionExecutor
         std::bind(&InstructionExecutor::trajDisconnectCallback, this, std::placeholders::_1));
   }
 
+  ~InstructionExecutor()
+  {
+    driver_->registerTrajectoryDoneCallback(nullptr);
+    driver_->registerTrajectoryInterfaceDisconnectedCallback(nullptr);
+  }
+
   /**
    * \brief Execute a sequence of motion primitives.
    *

Original file line number	Diff line number	Diff line change
`@@ -48,6 +48,12 @@ class InstructionExecutor`
`48`	`48`	`std::bind(&InstructionExecutor::trajDisconnectCallback, this, std::placeholders::_1));`
`49`	`49`	`}`
`50`	`50`
	`51`	`+ ~InstructionExecutor()`
	`52`	`+ {`
	`53`	`+ driver_->registerTrajectoryDoneCallback(nullptr);`
	`54`	`+ driver_->registerTrajectoryInterfaceDisconnectedCallback(nullptr);`
	`55`	`+ }`
	`56`	`+`
`51`	`57`	`/**`
`52`	`58`	`* \brief Execute a sequence of motion primitives.`
`53`	`59`	`*`