Safely shutdown SubscriptionData even if make() fails and cleanup todo

Signed-off-by: Yadunund <[email protected]>
ros2 · Oct 4, 2024 · f8ea0c3 · f8ea0c3
1 parent a4d985e
commit f8ea0c3
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Showing 3 changed files with 4 additions and 14 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -344,14 +344,6 @@ SubscriptionData::SubscriptionData()
   // Do nothing.
 }
 
-///=============================================================================
-rmw_qos_profile_t SubscriptionData::adapted_qos_profile() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return entity_->topic_info()->qos_;
-}
-
-
 ///=============================================================================
 std::size_t SubscriptionData::guid() const
 {
@@ -403,7 +395,9 @@ rmw_ret_t SubscriptionData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  if (zc_liveliness_token_check(&token_)) {
+    zc_liveliness_undeclare_token(z_move(token_));
+  }
 
   z_owned_subscriber_t * sub = std::get_if<z_owned_subscriber_t>(&sub_);
   if (sub != nullptr) {

diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
@@ -75,10 +75,6 @@ class SubscriptionData final
     const rosidl_message_type_support_t * type_support,
     const rmw_qos_profile_t * qos_profile);
 
-  // Get a copy of the actual qos_profile used by this Subscription.
-  // TODO(Yadunund): Remove since this can be gotten via topic_info().
-  rmw_qos_profile_t adapted_qos_profile() const;
-
   // Publish a ROS message.
   rmw_ret_t publish(
     const void * ros_message,

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1085,7 +1085,7 @@ rmw_subscription_get_actual_qos(
     static_cast<rmw_zenoh_cpp::SubscriptionData *>(subscription->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(sub_data, RMW_RET_INVALID_ARGUMENT);
 
-  *qos = sub_data->adapted_qos_profile();
+  *qos = sub_data->topic_info().qos_;
   return RMW_RET_OK;
 }