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Added syncronization to t_send worker thread

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Which avoids possible deadlocks
This commit is contained in:
Peter van der Perk
2019-11-07 18:20:39 +01:00
committed by Nuno Marques
parent f0d22d3962
commit 991399f105
5 changed files with 69 additions and 71 deletions
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msg/templates/urtps/Subscriber.h.em
+10 -2
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@@ -76,6 +76,7 @@ except AttributeError:
#include <atomic>
#include <condition_variable>
#include <queue>
using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps;
@@ -85,7 +86,7 @@ class @(topic)_Subscriber
public:
@(topic)_Subscriber();
virtual ~@(topic)_Subscriber();
bool init(std::condition_variable* cv);
bool init(uint8_t topic_ID, std::condition_variable* t_send_queue_cv, std::mutex* t_send_queue_mutex, std::queue<uint8_t>* t_send_queue);
void run();
bool hasMsg();
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@@ -101,6 +102,8 @@ public:
@(topic) getMsg();
@[ end if]@
@[end if]@
void unlockMsg();
private:
Participant *mp_participant;
Subscriber *mp_subscriber;
@@ -129,7 +132,12 @@ private:
@[ end if]@
@[end if]@
std::atomic_bool has_msg;
std::condition_variable* cv_msg;
uint8_t topic_ID;
std::condition_variable* t_send_queue_cv;
std::mutex* t_send_queue_mutex;
std::queue<uint8_t>* t_send_queue;
std::condition_variable has_msg_cv;
std::mutex has_msg_mutex;
} m_listener;
@[if 1.5 <= fastrtpsgen_version <= 1.7]@