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Fix crashes on shutting down (backport #1270) #1271

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Merged
merged 1 commit into from
Feb 7, 2025
Merged

Fix crashes on shutting down (backport #1270) #1271

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4 changes: 4 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) final;
hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) final;
hardware_interface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State& previous_state) final;
hardware_interface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& previous_state) final;

hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) final;
hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) final;
Expand Down Expand Up @@ -154,6 +155,9 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
void readBitsetData(const std::unique_ptr<urcl::rtde_interface::DataPackage>& data_pkg, const std::string& var_name,
std::bitset<N>& data);

// stop function used by on_shutdown and on_cleanup
hardware_interface::CallbackReturn stop();

void initAsyncIO();
void checkAsyncIO();
void updateNonDoubleValues();
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16 changes: 13 additions & 3 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,9 +58,6 @@ namespace ur_robot_driver

URPositionHardwareInterface::~URPositionHardwareInterface()
{
// If the controller manager is shutdown via Ctrl + C the on_deactivate methods won't be called.
// We therefore need to make sure to actually deactivate the communication
on_cleanup(rclcpp_lifecycle::State());
}

hardware_interface::CallbackReturn
Expand Down Expand Up @@ -592,6 +589,19 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous

hardware_interface::CallbackReturn
URPositionHardwareInterface::on_cleanup(const rclcpp_lifecycle::State& previous_state)
{
RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "on_cleanup");
return stop();
}

hardware_interface::CallbackReturn
URPositionHardwareInterface::on_shutdown(const rclcpp_lifecycle::State& previous_state)
{
RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "on_shutdown");
return stop();
}

hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
{
RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping ...please wait...");

Expand Down