From 53ad09d4268da509bf4dff2170682aa6feee1f73 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 12 Nov 2018 18:18:49 +0100
Subject: [PATCH] Fix possible dead-lock in RosPublish if a signal throws an
exception.
---
src/ros_publish.cpp | 6 ++++--
src/ros_publish.hh | 4 ++--
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index 06d483f..c985648 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -220,9 +220,10 @@ namespace dynamicgraph
}
//lock the mutex to avoid deleting the signal during a call to trigger
+ boost::mutex::scoped_lock lock (mutex_);
+
signalDeregistration(signal);
bindedSignal_.erase (signal);
- mutex_.unlock();
}
std::string RosPublish::list () const
@@ -262,13 +263,14 @@ namespace dynamicgraph
nextPublication_ = ros::Time::now() + rate_;
+ boost::mutex::scoped_lock lock (mutex_);
+
while(! mutex_.try_lock() ){}
for (iterator_t it = bindedSignal_.begin ();
it != bindedSignal_.end (); ++it)
{
boost::get<1>(it->second) (t);
}
- mutex_.unlock();
return dummy;
}
diff --git a/src/ros_publish.hh b/src/ros_publish.hh
index 6005f3e..bd9f81b 100644
--- a/src/ros_publish.hh
+++ b/src/ros_publish.hh
@@ -4,7 +4,7 @@
# include <boost/shared_ptr.hpp>
# include <boost/tuple/tuple.hpp>
-# include <boost/interprocess/sync/interprocess_mutex.hpp>
+# include <boost/thread/mutex.hpp>
# include <dynamic-graph/entity.h>
# include <dynamic-graph/signal-time-dependent.h>
@@ -94,7 +94,7 @@ namespace dynamicgraph
dynamicgraph::SignalTimeDependent<int,int> trigger_;
ros::Duration rate_;
ros::Time nextPublication_;
- boost::interprocess::interprocess_mutex mutex_;
+ boost::mutex mutex_;
};
} // end of namespace dynamicgraph.
--
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