Stop async thread in the destructor (#2941) (#2942)

mergify[bot] · web-flow · commit 478ec801fc9b · 2025-12-30T14:04:32.000+01:00
diff --git a/hardware_interface/src/hardware_component_interface.cpp b/hardware_interface/src/hardware_component_interface.cpp
@@ -50,7 +50,14 @@ HardwareComponentInterface::HardwareComponentInterface()
 {
 }
 
-HardwareComponentInterface::~HardwareComponentInterface() = default;
+HardwareComponentInterface::~HardwareComponentInterface()
+{
+  if (async_handler_)
+  {
+    async_handler_->stop_thread();
+  }
+  async_handler_.reset();
+}
 
 CallbackReturn HardwareComponentInterface::init(
   const hardware_interface::HardwareComponentParams & params)

Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,14 @@ HardwareComponentInterface::HardwareComponentInterface()`
`50`	`50`	`{`
`51`	`51`	`}`
`52`	`52`
`53`		`-HardwareComponentInterface::~HardwareComponentInterface() = default;`
	`53`	`+HardwareComponentInterface::~HardwareComponentInterface()`
	`54`	`+{`
	`55`	`+ if (async_handler_)`
	`56`	`+ {`
	`57`	`+ async_handler_->stop_thread();`
	`58`	`+ }`
	`59`	`+ async_handler_.reset();`
	`60`	`+}`
`54`	`61`
`55`	`62`	`CallbackReturn HardwareComponentInterface::init(`
`56`	`63`	`const hardware_interface::HardwareComponentParams & params)`