From f4aa3aecd9dae19ff652824ba397d6921365476a Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Wed, 12 Feb 2014 01:52:02 +0100
Subject: [PATCH] Correct rosPublish.rm method.
Deregister the signal formerly added.
Add a mutex system to prevent removing a signal while triggering it,
to avoid a crash (especially if the topic was listened to).
---
src/ros_publish.cpp | 9 +++++++++
src/ros_publish.hh | 2 ++
2 files changed, 11 insertions(+)
diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index 489f596..cef0afa 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -203,7 +203,14 @@ namespace dynamicgraph
void RosPublish::rm (const std::string& signal)
{
+ if(bindedSignal_.find(signal) == bindedSignal_.end())
+ return;
+
+ //lock the mutex to avoid deleting the signal during a call to trigger
+ while(! mutex_.try_lock() ){}
bindedSignal_.erase (signal);
+ signalDeregistration(signal);
+ mutex_.unlock();
}
std::string RosPublish::list () const
@@ -230,11 +237,13 @@ namespace dynamicgraph
if (dt < rate_)
return dummy;
+ 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 3a6d5d4..5cb5ce2 100644
--- a/src/ros_publish.hh
+++ b/src/ros_publish.hh
@@ -5,6 +5,7 @@
# include <boost/shared_ptr.hpp>
# include <boost/tuple/tuple.hpp>
+# include <boost/interprocess/sync/interprocess_mutex.hpp>
# include <dynamic-graph/entity.h>
# include <dynamic-graph/signal-time-dependent.h>
@@ -94,6 +95,7 @@ namespace dynamicgraph
dynamicgraph::SignalTimeDependent<int,int> trigger_;
ros::Duration rate_;
ros::Time lastPublicated_;
+ boost::interprocess::interprocess_mutex mutex_;
};
} // end of namespace dynamicgraph.
--
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