From c3be1d91b5dfe44cc6b30d44bda2b7e5bbb4df90 Mon Sep 17 00:00:00 2001
From: Stephen Brawner <brawner@gmail.com>
Date: Tue, 28 Jul 2020 17:22:51 -0700
Subject: [PATCH] Tweaks to client.c and subscription.c for cleaner init/fini

Signed-off-by: Stephen Brawner <brawner@gmail.com>
---
 rcl/src/rcl/client.c       | 2 ++
 rcl/src/rcl/publisher.c    | 1 +
 rcl/src/rcl/service.c      | 2 ++
 rcl/src/rcl/subscription.c | 2 ++
 4 files changed, 7 insertions(+)

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 9bf70dc4a2..6a6a51001d 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -189,6 +189,7 @@ rcl_client_init(
 fail:
   if (client->impl) {
     allocator->deallocate(client->impl, allocator->state);
+    client->impl = NULL;
   }
   ret = fail_ret;
   // Fall through to cleanup
@@ -223,6 +224,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(client->impl, allocator.state);
+    client->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client finalized");
   return result;
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 62bf16b4e5..6aea8f6740 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -236,6 +236,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(publisher->impl, allocator.state);
+    publisher->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher finalized");
   return result;
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 6dc1c79fcc..cf7de3c4e4 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -193,6 +193,7 @@ rcl_service_init(
 fail:
   if (service->impl) {
     allocator->deallocate(service->impl, allocator->state);
+    service->impl = NULL;
   }
   ret = fail_ret;
   // Fall through to clean up
@@ -228,6 +229,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(service->impl, allocator.state);
+    service->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service finalized");
   return result;
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index 2e3b37d384..83288ff683 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -194,6 +194,7 @@ rcl_subscription_init(
 fail:
   if (subscription->impl) {
     allocator->deallocate(subscription->impl, allocator->state);
+    subscription->impl = NULL;
   }
   ret = fail_ret;
   // Fall through to cleanup
@@ -229,6 +230,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
     allocator.deallocate(subscription->impl, allocator.state);
+    subscription->impl = NULL;
   }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription finalized");
   return result;