fix clock cleanup

ros2 · Jul 27, 2018 · c788ec0 · c788ec0
1 parent bc47e31
commit c788ec0
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Showing 2 changed files with 16 additions and 9 deletions.
diff --git a/rclpy/rclpy/timer.py b/rclpy/rclpy/timer.py
@@ -19,7 +19,7 @@
 class WallTimer:
 
     def __init__(self, callback, callback_group, timer_period_ns):
-        [self.timer_handle, self.timer_pointer] = _rclpy.rclpy_create_timer(timer_period_ns)
+        [self.timer_handle, self.timer_pointer, _] = _rclpy.rclpy_create_timer(timer_period_ns)
         self.timer_period_ns = timer_period_ns
         self.callback = callback
         self.callback_group = callback_group

diff --git a/rclpy/src/rclpy/_rclpy.c b/rclpy/src/rclpy/_rclpy.c
@@ -1218,9 +1218,9 @@ rclpy_create_timer(PyObject * Py_UNUSED(self), PyObject * args)
     return NULL;
   }
   PyObject * pylist = PyList_New(3);
-  PyList_SET_ITEM(pylist, 0, PyCapsule_New(clock, "rcl_clock_t", NULL));
-  PyList_SET_ITEM(pylist, 1, PyCapsule_New(timer, "rcl_timer_t", NULL));
-  PyList_SET_ITEM(pylist, 2, PyLong_FromUnsignedLongLong((uint64_t)&timer->impl));
+  PyList_SET_ITEM(pylist, 0, PyCapsule_New(timer, "rcl_timer_t", NULL));
+  PyList_SET_ITEM(pylist, 1, PyLong_FromUnsignedLongLong((uint64_t)&timer->impl));
+  PyList_SET_ITEM(pylist, 2, PyCapsule_New(clock, "rcl_clock_t", NULL));
 
   return pylist;
 }
@@ -2073,18 +2073,25 @@ rclpy_destroy_entity(PyObject * Py_UNUSED(self), PyObject * args)
     PyMem_Free(node);
   } else if (PyCapsule_IsValid(pyentity, "rcl_timer_t")) {
     rcl_timer_t * timer = (rcl_timer_t *)PyCapsule_GetPointer(pyentity, "rcl_timer_t");
-    ret = rcl_timer_fini(timer);
-    PyMem_Free(timer);
-
-    rcl_clock_t * clock = (rcl_clock_t *)PyCapsule_GetPointer(pyentity, "rcl_clock_t");
+    rcl_clock_t * clock = 0;
+    ret = rcl_timer_clock(timer, &clock);
+    if (ret != RCL_RET_OK) {
+      PyErr_Format(PyExc_RuntimeError,
+        "Failed to get 'rcl_clock_t' from timer: %s", rcl_get_error_string_safe());
+      rcl_reset_error();
+      return NULL;
+    }
     rcl_ret_t ret_clock = rcl_clock_fini(clock);
-    PyMem_Free(clock);
     if (ret_clock != RCL_RET_OK) {
       PyErr_Format(PyExc_RuntimeError,
         "Failed to fini 'rcl_clock_t': %s", rcl_get_error_string_safe());
       rcl_reset_error();
       return NULL;
     }
+
+    ret = rcl_timer_fini(timer);
+    PyMem_Free(timer);
+    PyMem_Free(clock);
   } else if (PyCapsule_IsValid(pyentity, "rcl_guard_condition_t")) {
     rcl_guard_condition_t * guard_condition = (rcl_guard_condition_t *)PyCapsule_GetPointer(
       pyentity, "rcl_guard_condition_t");