Check for correct context shutdown (#486)

Signed-off-by: Ignacio Montesino <[email protected]>
ros2 · Dec 3, 2020 · 20b5851 · 20b5851
1 parent 89f5bc9
commit 20b5851
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Showing 2 changed files with 8 additions and 0 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_init.cpp b/rmw_fastrtps_cpp/src/rmw_init.cpp
@@ -155,6 +155,10 @@ rmw_context_fini(rmw_context_t * context)
     RCUTILS_SET_ERROR_MSG("context has not been shutdown");
     return RMW_RET_INVALID_ARGUMENT;
   }
+  if (context->impl->count > 0) {
+    RMW_SET_ERROR_MSG("Finalizing a context with active nodes");
+    return RMW_RET_ERROR;
+  }
   rmw_ret_t ret = rmw_init_options_fini(&context->options);
   delete context->impl;
   *context = rmw_get_zero_initialized_context();

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_init.cpp
@@ -155,6 +155,10 @@ rmw_context_fini(rmw_context_t * context)
     RCUTILS_SET_ERROR_MSG("context has not been shutdown");
     return RMW_RET_INVALID_ARGUMENT;
   }
+  if (context->impl->count > 0) {
+    RMW_SET_ERROR_MSG("Finalizing a context with active nodes");
+    return RMW_RET_ERROR;
+  }
   rmw_ret_t ret = rmw_init_options_fini(&context->options);
   delete context->impl;
   *context = rmw_get_zero_initialized_context();