Make sure to give ownership of the closure to Zenoh.

That is, we should be using z_move() to hand responsibility of the closure to Zenoh. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Jul 2, 2024 · 66af6cf · 66af6cf
1 parent 9ede38d
commit 66af6cf
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -297,7 +297,6 @@ class rmw_client_data_t final
   std::shared_ptr<liveliness::Entity> entity;
 
   z_owned_keyexpr_t keyexpr;
-  z_owned_closure_reply_t zn_closure_reply;
 
   // Store the actual QoS profile used to configure this client.
   // The QoS is reused for sending requests and getting responses.

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -2378,7 +2378,6 @@ rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
     return RMW_RET_INVALID_ARGUMENT);
 
   // CLEANUP ===================================================================
-  z_drop(z_move(client_data->zn_closure_reply));
   z_drop(z_move(client_data->keyexpr));
   zc_liveliness_undeclare_token(z_move(client_data->token));
 
@@ -2492,11 +2491,13 @@ rmw_send_request(
   // and any number.
   opts.consolidation = z_query_consolidation_latest();
   opts.value.payload = z_bytes_t{data_length, reinterpret_cast<const uint8_t *>(request_bytes)};
-  client_data->zn_closure_reply =
+  z_owned_closure_reply_t zn_closure_reply =
     z_closure(rmw_zenoh_cpp::client_data_handler, nullptr, client_data);
   z_get(
-    z_loan(context_impl->session), z_loan(
-      client_data->keyexpr), "", &client_data->zn_closure_reply, &opts);
+    z_loan(context_impl->session),
+    z_loan(client_data->keyexpr), "",
+    z_move(zn_closure_reply),
+    &opts);
 
   return RMW_RET_OK;
 }