Remove the need to Box rcl_node_t

rclrs/src/client.rs

@@ -43,7 +43,7 @@ impl Drop for ClientHandle {
         // SAFETY: The entity lifecycle mutex is locked to protect against the risk of
         // global variables in the rmw implementation being unsafely modified during cleanup.
         unsafe {
-            rcl_client_fini(rcl_client, &mut **rcl_node);
+            rcl_client_fini(rcl_client, &mut *rcl_node);
         }
     }
 }
@@ -115,7 +115,7 @@ where
             unsafe {
                 rcl_client_init(
                     &mut rcl_client,
-                    &**rcl_node,
+                    &*rcl_node,
                     type_support,
                     topic_c_string.as_ptr(),
                     &client_options,
@@ -263,7 +263,7 @@ where
     pub fn service_is_ready(&self) -> Result<bool, RclrsError> {
         let mut is_ready = false;
         let client = &mut *self.handle.rcl_client.lock().unwrap();
-        let node = &mut **self.handle.node_handle.rcl_node.lock().unwrap();
+        let node = &mut *self.handle.node_handle.rcl_node.lock().unwrap();
 
         unsafe {
             // SAFETY both node and client are guaranteed to be valid here

rclrs/src/node.rs

@@ -5,7 +5,7 @@ use std::{
     ffi::CStr,
     fmt,
     os::raw::c_char,
-    sync::{Arc, Mutex, Weak},
+    sync::{Arc, Mutex, Weak, atomic::AtomicBool},
     vec::Vec,
 };
 
@@ -79,19 +79,37 @@ pub struct Node {
 ///
 /// [1]: <https://doc.rust-lang.org/reference/destructors.html>
 pub(crate) struct NodeHandle {
-    pub(crate) rcl_node: Mutex<Box<rcl_node_t>>,
+    pub(crate) rcl_node: Mutex<rcl_node_t>,
     pub(crate) context_handle: Arc<ContextHandle>,
+    /// In the humbe distro, rcl is sensitive to the address of the rcl_node_t
+    /// object being moved (this issue seems to be gone in jazzy), so we need
+    /// to initialize the rcl_node_t in-place inside this struct. In the event
+    /// that the initialization fails (e.g. it was created with an invalid name)
+    /// we need to make sure that we do not call rcl_node_fini on it while
+    /// dropping the NodeHandle, so we keep track of successful initialization
+    /// with this variable.
+    ///
+    /// We may be able to restructure this in the future when we no longer need
+    /// to support Humble.
+    pub(crate) initialized: AtomicBool,
 }
 
 impl Drop for NodeHandle {
     fn drop(&mut self) {
+        if !self.initialized.load(std::sync::atomic::Ordering::Acquire) {
+            // The node was not correctly initialized, e.g. it was created with
+            // an invalid name, so we must not try to finalize it or else we
+            // will get undefined behavior.
+            return;
+        }
+
         let _context_lock = self.context_handle.rcl_context.lock().unwrap();
         let mut rcl_node = self.rcl_node.lock().unwrap();
         let _lifecycle_lock = ENTITY_LIFECYCLE_MUTEX.lock().unwrap();
 
         // SAFETY: The entity lifecycle mutex is locked to protect against the risk of
         // global variables in the rmw implementation being unsafely modified during cleanup.
-        unsafe { rcl_node_fini(&mut **rcl_node) };
+        unsafe { rcl_node_fini(&mut *rcl_node) };
     }
 }
 
@@ -376,7 +394,7 @@ impl Node {
         let mut domain_id: usize = 0;
         let ret = unsafe {
             // SAFETY: No preconditions for this function.
-            rcl_node_get_domain_id(&**rcl_node, &mut domain_id)
+            rcl_node_get_domain_id(&*rcl_node, &mut domain_id)
         };
 
         debug_assert_eq!(ret, 0);
@@ -451,7 +469,7 @@ impl Node {
     pub fn logger_name(&self) -> &str {
         let rcl_node = self.handle.rcl_node.lock().unwrap();
         // SAFETY: No pre-conditions for this function
-        let name_raw_ptr = unsafe { rcl_node_get_logger_name(&**rcl_node) };
+        let name_raw_ptr = unsafe { rcl_node_get_logger_name(&*rcl_node) };
         if name_raw_ptr.is_null() {
             return "";
         }

rclrs/src/node/builder.rs

@@ -1,6 +1,6 @@
 use std::{
     ffi::CString,
-    sync::{Arc, Mutex},
+    sync::{Arc, Mutex, atomic::AtomicBool},
 };
 
 use crate::{
@@ -276,8 +276,13 @@ impl NodeBuilder {
         let rcl_node_options = self.create_rcl_node_options()?;
         let rcl_context = &mut *self.context.rcl_context.lock().unwrap();
 
-        // SAFETY: Getting a zero-initialized value is always safe.
-        let mut rcl_node = Box::new(unsafe { rcl_get_zero_initialized_node() });
+        let handle = Arc::new(NodeHandle {
+            // SAFETY: Getting a zero-initialized value is always safe.
+            rcl_node: Mutex::new(unsafe { rcl_get_zero_initialized_node() }),
+            context_handle: Arc::clone(&self.context),
+            initialized: AtomicBool::new(false),
+        });
+
         unsafe {
             // SAFETY:
             // * The rcl_node is zero-initialized as mandated by this function.
@@ -287,7 +292,7 @@ impl NodeBuilder {
             //   global variables in the rmw implementation being unsafely modified during cleanup.
             let _lifecycle_lock = ENTITY_LIFECYCLE_MUTEX.lock().unwrap();
             rcl_node_init(
-                &mut *rcl_node,
+                &mut *handle.rcl_node.lock().unwrap(),
                 node_name.as_ptr(),
                 node_namespace.as_ptr(),
                 rcl_context,
@@ -296,10 +301,8 @@ impl NodeBuilder {
             .ok()?;
         };
 
-        let handle = Arc::new(NodeHandle {
-            rcl_node: Mutex::new(rcl_node),
-            context_handle: Arc::clone(&self.context),
-        });
+        handle.initialized.store(true, std::sync::atomic::Ordering::Release);
+
         let parameter = {
             let rcl_node = handle.rcl_node.lock().unwrap();
             ParameterInterface::new(

rclrs/src/node/graph.rs

@@ -139,7 +139,7 @@ impl Node {
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
             rcl_get_topic_names_and_types(
-                &**rcl_node,
+                &*rcl_node,
                 &mut rcutils_get_default_allocator(),
                 false,
                 &mut rcl_names_and_types,
@@ -169,7 +169,7 @@ impl Node {
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
             rcl_get_node_names(
-                &**rcl_node,
+                &*rcl_node,
                 rcutils_get_default_allocator(),
                 &mut rcl_names,
                 &mut rcl_namespaces,
@@ -217,7 +217,7 @@ impl Node {
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
             rcl_get_node_names_with_enclaves(
-                &**rcl_node,
+                &*rcl_node,
                 rcutils_get_default_allocator(),
                 &mut rcl_names,
                 &mut rcl_namespaces,
@@ -266,7 +266,7 @@ impl Node {
         // SAFETY: The topic_name string was correctly allocated previously
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
-            rcl_count_publishers(&**rcl_node, topic_name.as_ptr(), &mut count).ok()?
+            rcl_count_publishers(&*rcl_node, topic_name.as_ptr(), &mut count).ok()?
         };
         Ok(count)
     }
@@ -282,7 +282,7 @@ impl Node {
         // SAFETY: The topic_name string was correctly allocated previously
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
-            rcl_count_subscribers(&**rcl_node, topic_name.as_ptr(), &mut count).ok()?
+            rcl_count_subscribers(&*rcl_node, topic_name.as_ptr(), &mut count).ok()?
         };
         Ok(count)
     }
@@ -333,7 +333,7 @@ impl Node {
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
             getter(
-                &**rcl_node,
+                &*rcl_node,
                 &mut rcutils_get_default_allocator(),
                 node_name.as_ptr(),
                 node_namespace.as_ptr(),
@@ -369,7 +369,7 @@ impl Node {
         unsafe {
             let rcl_node = self.handle.rcl_node.lock().unwrap();
             getter(
-                &**rcl_node,
+                &*rcl_node,
                 &mut rcutils_get_default_allocator(),
                 topic.as_ptr(),
                 false,

rclrs/src/parameter.rs

@@ -10,7 +10,10 @@ pub use value::*;
 
 use crate::vendor::rcl_interfaces::msg::rmw::{ParameterType, ParameterValue as RmwParameterValue};
 
-use crate::{call_string_getter_with_rcl_node, rcl_bindings::*, Node, RclrsError};
+use crate::{
+    call_string_getter_with_rcl_node, rcl_bindings::*, Node, RclrsError,
+    ENTITY_LIFECYCLE_MUTEX,
+};
 use std::{
     collections::{btree_map::Entry, BTreeMap},
     fmt::Debug,
@@ -760,6 +763,7 @@ impl ParameterInterface {
         global_arguments: &rcl_arguments_t,
     ) -> Result<Self, RclrsError> {
         let override_map = unsafe {
+            let _lifecycle_lock = ENTITY_LIFECYCLE_MUTEX.lock().unwrap();
             let fqn = call_string_getter_with_rcl_node(rcl_node, rcl_node_get_fully_qualified_name);
             resolve_parameter_overrides(&fqn, node_arguments, global_arguments)?
         };

rclrs/src/publisher.rs

@@ -38,7 +38,7 @@ impl Drop for PublisherHandle {
         // SAFETY: The entity lifecycle mutex is locked to protect against the risk of
         // global variables in the rmw implementation being unsafely modified during cleanup.
         unsafe {
-            rcl_publisher_fini(self.rcl_publisher.get_mut().unwrap(), &mut **rcl_node);
+            rcl_publisher_fini(self.rcl_publisher.get_mut().unwrap(), &mut *rcl_node);
         }
     }
 }
@@ -111,7 +111,7 @@ where
                 //   variables in the rmw implementation being unsafely modified during cleanup.
                 rcl_publisher_init(
                     &mut rcl_publisher,
-                    &**rcl_node,
+                    &*rcl_node,
                     type_support_ptr,
                     topic_c_string.as_ptr(),
                     &publisher_options,

rclrs/src/service.rs

@@ -41,7 +41,7 @@ impl Drop for ServiceHandle {
         // SAFETY: The entity lifecycle mutex is locked to protect against the risk of
         // global variables in the rmw implementation being unsafely modified during cleanup.
         unsafe {
-            rcl_service_fini(rcl_service, &mut **rcl_node);
+            rcl_service_fini(rcl_service, &mut *rcl_node);
         }
     }
 }
@@ -116,7 +116,7 @@ where
                 //   variables in the rmw implementation being unsafely modified during initialization.
                 rcl_service_init(
                     &mut rcl_service,
-                    &**rcl_node,
+                    &*rcl_node,
                     type_support,
                     topic_c_string.as_ptr(),
                     &service_options as *const _,

rclrs/src/subscription.rs

@@ -49,7 +49,7 @@ impl Drop for SubscriptionHandle {
         // SAFETY: The entity lifecycle mutex is locked to protect against the risk of
         // global variables in the rmw implementation being unsafely modified during cleanup.
         unsafe {
-            rcl_subscription_fini(rcl_subscription, &mut **rcl_node);
+            rcl_subscription_fini(rcl_subscription, &mut *rcl_node);
         }
     }
 }
@@ -129,7 +129,7 @@ where
                 //   variables in the rmw implementation being unsafely modified during cleanup.
                 rcl_subscription_init(
                     &mut rcl_subscription,
-                    &**rcl_node,
+                    &*rcl_node,
                     type_support,
                     topic_c_string.as_ptr(),
                     &subscription_options,