fix: properly clone the pointer of query and reply to resolve the seg…

…fault in test_service__rmw_zenoh_cpp
ros2 · Sep 27, 2024 · 6fd7e1c · 6fd7e1c
1 parent 6a48919
commit 6fd7e1c
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Showing 2 changed files with 12 additions and 12 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -493,21 +493,21 @@ void sub_data_handler(
 }
 
 ///=============================================================================
-ZenohQuery::ZenohQuery(z_owned_query_t * query)
+ZenohQuery::ZenohQuery(z_owned_query_t query)
 {
   query_ = query;
 }
 
 ///=============================================================================
 ZenohQuery::~ZenohQuery()
 {
-  z_drop(z_move(*query_));
+  z_drop(z_move(query_));
 }
 
 ///=============================================================================
 const z_loaned_query_t * ZenohQuery::get_query() const
 {
-  return z_loan(*query_);
+  return z_loan(query_);
 }
 
 //==============================================================================
@@ -530,25 +530,25 @@ void service_data_handler(z_loaned_query_t * query, void * data)
   z_owned_query_t owned_query;
   z_query_clone(&owned_query, query);
 
-  service_data->add_new_query(std::make_unique<ZenohQuery>(&owned_query));
+  service_data->add_new_query(std::make_unique<ZenohQuery>(owned_query));
 }
 
 ///=============================================================================
-ZenohReply::ZenohReply(z_owned_reply_t * reply)
+ZenohReply::ZenohReply(z_owned_reply_t reply)
 {
   reply_ = reply;
 }
 
 ///=============================================================================
 ZenohReply::~ZenohReply()
 {
-  z_drop(z_move(*reply_));
+  z_drop(z_move(reply_));
 }
 
 ///=============================================================================
 const z_loaned_reply_t * ZenohReply::get_reply() const
 {
-  return z_loan(*reply_);
+  return z_loan(reply_);
 }
 
 ///=============================================================================
@@ -579,7 +579,7 @@ void client_data_handler(z_loaned_reply_t * reply, void * data)
   if (z_reply_is_ok(reply)) {
     z_owned_reply_t owned_reply;
     z_reply_clone(&owned_reply, reply);
-    client_data->add_new_reply(std::make_unique<ZenohReply>(&owned_reply));
+    client_data->add_new_reply(std::make_unique<ZenohReply>(owned_reply));
   } else {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_loan(client_data->keyexpr), &keystr);

diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -210,14 +210,14 @@ void client_data_drop(void * data);
 class ZenohQuery final
 {
 public:
-  ZenohQuery(z_owned_query_t * query);
+  ZenohQuery(z_owned_query_t query);
 
   ~ZenohQuery();
 
   const z_loaned_query_t * get_query() const;
 
 private:
-  z_owned_query_t * query_;
+  z_owned_query_t query_;
 };
 
 ///=============================================================================
@@ -280,14 +280,14 @@ class rmw_service_data_t final
 class ZenohReply final
 {
 public:
-  ZenohReply(z_owned_reply_t * reply);
+  ZenohReply(z_owned_reply_t reply);
 
   ~ZenohReply();
 
   const z_loaned_reply_t * get_reply() const;
 
 private:
-  z_owned_reply_t * reply_;
+  z_owned_reply_t reply_;
 };
 
 ///=============================================================================