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fix issue with callbacks not firing in demo apps #7

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merged 1 commit into from
Apr 3, 2019
Merged

fix issue with callbacks not firing in demo apps #7

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11 changes: 0 additions & 11 deletions rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,14 +164,6 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
if (!group || !group->can_be_taken_from().load()) {
continue;
}
for (auto & weak_publisher : group->get_publisher_ptrs()) {
auto publisher = weak_publisher.lock();
if (publisher) {
for (auto & publisher_event : publisher->get_event_handlers()) {
waitable_handles_.push_back(publisher_event);
}
}
}
for (auto & weak_subscription : group->get_subscription_ptrs()) {
auto subscription = weak_subscription.lock();
if (subscription) {
Expand All @@ -180,9 +172,6 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
subscription_handles_.push_back(
subscription->get_intra_process_subscription_handle());
}
for (auto & subscription_event : subscription->get_event_handlers()) {
waitable_handles_.push_back(subscription_event);
}
}
}
for (auto & weak_service : group->get_service_ptrs()) {
Expand Down
16 changes: 12 additions & 4 deletions rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,9 +72,13 @@ NodeTopics::add_publisher(
if (!node_base_->callback_group_in_node(callback_group)) {
throw std::runtime_error("Cannot create publisher, callback group not in node.");
}
callback_group->add_publisher(publisher);
} else {
node_base_->get_default_callback_group()->add_publisher(publisher);
callback_group = node_base_->get_default_callback_group();
}

callback_group->add_publisher(publisher);
for (auto & publisher_event : publisher->get_event_handlers()) {
callback_group->add_waitable(publisher_event);
}

// Notify the executor that a new publisher was created using the parent Node.
Expand Down Expand Up @@ -122,9 +126,13 @@ NodeTopics::add_subscription(
// TODO(jacquelinekay): use custom exception
throw std::runtime_error("Cannot create subscription, callback group not in node.");
}
callback_group->add_subscription(subscription);
} else {
node_base_->get_default_callback_group()->add_subscription(subscription);
callback_group = node_base_->get_default_callback_group();
}

callback_group->add_subscription(subscription);
for (auto & subscription_event : subscription->get_event_handlers()) {
callback_group->add_waitable(subscription_event);
}

// Notify the executor that a new subscription was created using the parent Node.
Expand Down