Stop async thread in the destructor (#2941) (#2943)

mergify[bot] · web-flow · commit bc587da5c7ed · 2025-12-30T14:04:25.000+01:00
diff --git a/hardware_interface/src/hardware_component_interface.cpp b/hardware_interface/src/hardware_component_interface.cpp
@@ -55,7 +55,14 @@ 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
`@@ -55,7 +55,14 @@ HardwareComponentInterface::HardwareComponentInterface()`
`55`	`55`	`{`
`56`	`56`	`}`
`57`	`57`
`58`		`-HardwareComponentInterface::~HardwareComponentInterface() = default;`
	`58`	`+HardwareComponentInterface::~HardwareComponentInterface()`
	`59`	`+{`
	`60`	`+ if (async_handler_)`
	`61`	`+ {`
	`62`	`+ async_handler_->stop_thread();`
	`63`	`+ }`
	`64`	`+ async_handler_.reset();`
	`65`	`+}`
`59`	`66`
`60`	`67`	`CallbackReturn HardwareComponentInterface::init(`
`61`	`68`	`const hardware_interface::HardwareComponentParams & params)`