fix segmentation fault reported

jsk-ros-pkg · Dec 6, 2022 · 1e482f9 · 1e482f9
1 parent 6d49525
commit 1e482f9
Showing 1 changed file with 14 additions and 9 deletions.
diff --git a/roseus_smach/src/state-machine-ros.l b/roseus_smach/src/state-machine-ros.l
@@ -14,7 +14,7 @@
 (defclass state-machine-inspector
   :super propertied-object
   :slots (sm root-name srv-name init-tm state-counter structure-counter
-             groupname exit-state))
+             groupname exit-state exit-signal-hook))
 (defmethod state-machine-inspector
   (:init
    (sm-obj &key ((:root-name rn) "SM_ROOT") ((:srv-name sn) "/server_name") ((:groupname gp)))
@@ -142,21 +142,26 @@
      (setq init-tm (ros::time-now))
      ))
   (:exit-state () exit-state)
+  (:exit-signal-hook () exit-signal-hook)
   (:register-exit-signal-hook
     (es userdata exit-signal-hook-func)
     (if (null (derivedp es state))
       (setq es (send self :state-machine :node es)))
     ;; update exit-state slot
     (setq exit-state es)
     (send self :put 'userdata userdata)
-    (let ((exit-signal-hook
-            `(lambda-closure nil 0 0 (sig code)
-               (ros::ros-warn " Signal ~A called.~%" (unix:signal unix::sigint))
-               (ros::ros-error "Calling exit-signal-hook.~%")
-               (funcall ',exit-signal-hook-func (send ,self :get 'userdata))
-               (ros::ros-warn " Forcing transition to ~A.~%" ,es)
-               (send ,self :exit-signal-hook sig code ,es (send ,self :get 'userdata)))))
-      (unix:signal unix::sigint exit-signal-hook)))
+    ;; we need to set exit-signal-hook in slot
+    ;; to avoid memory error, GC causes this error?
+    (setq exit-signal-hook
+          `(lambda-closure nil 0 0 (sig code)
+             (ros::ros-warn " Signal ~A called." unix::sigint)
+             (ros::ros-warn "Calling exit-signal-hook.")
+             (funcall ',exit-signal-hook-func (send ,self :get 'userdata))
+             (ros::ros-warn " Forcing transition to ~A." ,es)
+             (send ,self :exit-signal-hook sig code ,es (send ,self :get 'userdata))
+             ))
+    (unix:signal unix::sigint exit-signal-hook)
+    )
   (:exit-signal-hook (sig code &optional es userdata)
     (if (null es) (return-from :exit-signal-hook (exit sig)))
     (send sm :active-state es)