Fixed crashes when exiting application due to node still being used.

StefanFabian · Oct 23, 2024 · e863e5c · e863e5c
1 parent 0429f32
commit e863e5c
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Showing 3 changed files with 16 additions and 2 deletions.
diff --git a/include/qml_ros2_plugin/ros2.hpp b/include/qml_ros2_plugin/ros2.hpp
@@ -20,7 +20,7 @@
 namespace qml_ros2_plugin
 {
 
-class Ros2Qml : public QObject
+class Ros2Qml final : public QObject
 {
   Q_OBJECT
 private:
@@ -31,6 +31,8 @@ class Ros2Qml : public QObject
 
   Ros2Qml( const Ros2Qml & ) = delete;
 
+  ~Ros2Qml() final;
+
   void operator=( const Ros2Qml & ) = delete;
 
   /*!

diff --git a/src/ros2.cpp b/src/ros2.cpp
@@ -26,6 +26,18 @@ Ros2Qml &Ros2Qml::getInstance()
 
 Ros2Qml::Ros2Qml() : count_wrappers( 0 ) { babel_fish_ = BabelFishDispenser::getBabelFish(); }
 
+Ros2Qml::~Ros2Qml()
+{
+  if ( node_ == nullptr )
+    return;
+  QML_ROS2_PLUGIN_DEBUG( "Ros2Qml destructing but context still alive. Shutting down context." );
+  node_ = nullptr;
+  rclcpp::shutdown( context_, "QML Ros2 was destroyed." );
+  if ( executor_thread_.joinable() )
+    executor_thread_.join();
+  context_ = nullptr;
+}
+
 bool Ros2Qml::isInitialized() const { return context_ != nullptr; }
 
 void Ros2Qml::init( const QString &name, quint32 options )

diff --git a/src/subscription.cpp b/src/subscription.cpp
@@ -129,7 +129,7 @@ void Subscription::subscribe()
 void Subscription::try_subscribe()
 {
   std::shared_ptr<rclcpp::Node> node = Ros2Qml::getInstance().node();
-  if ( node == nullptr )
+  if ( node == nullptr || !Ros2Qml::getInstance().ok() )
     return;
   if ( user_message_type_.isEmpty() ) {
     subscription_ = babel_fish_.create_subscription(