memory safe subscription callback #108
Draft
+56
−12
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Inherit from std::enable_shared_from_this and wrap subscription callback in lambda capturing a weak_ptr using weak_from_this() to check that Bond object is still in scope before processing the bondStatusCB member function.
Create and use helper function to check that class is still valid before calling member function.
This was referenced Jan 11, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Manage the lifetime of the bondStatusCB member function by wrapping it in a lambda that captures a weak_ptr (via public inheritance of std::enable_shared_from_this)
NOTE:
This is a draft to show how it could be done.
It solves a use after free that is being experienced using intraprocess communication in nav2 ros-navigation/navigation2#4691 .
Also being discussed as a bug in rclcpp - ros2/rclcpp#2678 (comment)
Something like createSafeSubscriptionMemFuncCallback could make its way into the rclcpp namespace.