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Fix a segfault when re-using wait set #282

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Oct 11, 2022
+2 −2
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Fix a segfault when re-using wait set #282

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2 changes: 1 addition & 1 deletion rclrs/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ pub use wait::*;
///
/// [1]: crate::RclReturnCode
pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclrsError> {
let mut wait_set = WaitSet::new_for_node(node)?;
let wait_set = WaitSet::new_for_node(node)?;
let ready_entities = wait_set.wait(timeout)?;

for ready_subscription in ready_entities.subscriptions {
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2 changes: 1 addition & 1 deletion rclrs/src/wait.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -321,7 +321,7 @@ impl WaitSet {
/// This list is not comprehensive, since further errors may occur in the `rmw` or `rcl` layers.
///
/// [1]: std::time::Duration::ZERO
pub fn wait(&mut self, timeout: Option<Duration>) -> Result<ReadyEntities, RclrsError> {
pub fn wait(mut self, timeout: Option<Duration>) -> Result<ReadyEntities, RclrsError> {
let timeout_ns = match timeout.map(|d| d.as_nanos()) {
None => -1,
Some(ns) if ns <= i64::MAX as u128 => ns as i64,
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