Add wrapper of gil_scoped_release that auto-disarms when the runtime is finalizing

Signed-off-by: Miguel Company <[email protected]>

Author: MiguelCompany

rclpy/src/rclpy/gil_utils.hpp

@@ -0,0 +1,48 @@
+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLPY__GIL_UTILS_HPP_
+#define RCLPY__GIL_UTILS_HPP_
+
+#include <pybind11/pybind11.h>
+
+#if PY_VERSION_HEX < Py_PACK_FULL_VERSION(3, 13)) 
+#define rclpy_IsPythonFinalizing _Py_IsFinalizing
+#else
+#define rclpy_IsPythonFinalizing Py_IsFinalizing
+#endif
+
+namespace rclpy
+{
+
+class gil_scoped_release
+{
+public:
+  gil_scoped_release() = default;
+
+  ~gil_scoped_release() {
+    // Avoid taking the GIL if runtime is finalizing
+    if (rclpy_IsPythonFinalizing()) {
+      gil_release_.disarm();
+    }
+  }
+
+private:
+
+  pybind11::gil_scoped_release gil_release_;
+};
+
+}  // namespace rclpy
+
+#endif  // RCLPY__GIL_UTILS_HPP_