Merge pull request #103 from irobot-ros/asoragna/fix-qos-event-callbacks

alsora · web-flow · commit 3c1fb0f502d2 · 2023-02-10T11:24:00.000Z
qos-event callback fixes
diff --git a/rclcpp/include/rclcpp/qos_event.hpp b/rclcpp/include/rclcpp/qos_event.hpp
@@ -214,10 +214,11 @@ class QOSEventHandlerBase : public Waitable
   void
   set_on_new_event_callback(rcl_event_callback_t callback, const void * user_data);
 
-  rcl_event_t event_handle_;
-  size_t wait_set_event_index_;
   std::recursive_mutex callback_mutex_;
   std::function<void(size_t)> on_new_event_callback_{nullptr};
+
+  rcl_event_t event_handle_;
+  size_t wait_set_event_index_;
 };
 
 template<typename EventCallbackT, typename ParentHandleT>
diff --git a/rclcpp/src/rclcpp/qos_event.cpp b/rclcpp/src/rclcpp/qos_event.cpp
@@ -35,9 +35,7 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
 
 QOSEventHandlerBase::~QOSEventHandlerBase()
 {
-  if (on_new_event_callback_) {
-    clear_on_ready_callback();
-  }
+  clear_on_ready_callback();
 
   if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(

Original file line number	Diff line number	Diff line change
`@@ -35,9 +35,7 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(`
`35`	`35`
`36`	`36`	`QOSEventHandlerBase::~QOSEventHandlerBase()`
`37`	`37`	`{`
`38`		`- if (on_new_event_callback_) {`
`39`		`- clear_on_ready_callback();`
`40`		`- }`
	`38`	`+ clear_on_ready_callback();`
`41`	`39`
`42`	`40`	`if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {`
`43`	`41`	`RCUTILS_LOG_ERROR_NAMED(`