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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
2019-11-08 18:58:38 +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/microRTPS_agent.cpp.em
+28 -25
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@@ -60,6 +60,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
#include <csignal>
#include <termios.h>
#include <condition_variable>
#include <queue>
#include <fastcdr/Cdr.h>
#include <fastcdr/FastCdr.h>
@@ -189,38 +190,39 @@ void signal_handler(int signum)
@[if recv_topics]@
std::atomic<bool> exit_sender_thread(false);
std::condition_variable cv_msg;
std::mutex cv_m;
std::condition_variable t_send_queue_cv;
std::mutex t_send_queue_mutex;
std::queue<uint8_t> t_send_queue;
void t_send(void *data)
{
char data_buffer[BUFFER_SIZE] = {};
int length = 0;
uint8_t topic_ID = 255;
std::unique_lock<std::mutex> lk(cv_m);
int length = 0;
while (running)
while (running && !exit_sender_thread.load())
{
// Send subscribed topics over UART
while (topics.hasMsg(&topic_ID) && !exit_sender_thread.load())
std::unique_lock<std::mutex> lk(t_send_queue_mutex);
while (t_send_queue.empty() && !exit_sender_thread.load())
{
uint16_t header_length = transport_node->get_header_length();
/* make room for the header to fill in later */
eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
eprosima::fastcdr::Cdr scdr(cdrbuffer);
if (topics.getMsg(topic_ID, scdr))
t_send_queue_cv.wait(lk);
}
uint8_t topic_ID = t_send_queue.front();
t_send_queue.pop();
lk.unlock();
uint16_t header_length = transport_node->get_header_length();
/* make room for the header to fill in later */
eprosima::fastcdr::FastBuffer cdrbuffer(&data_buffer[header_length], sizeof(data_buffer)-header_length);
eprosima::fastcdr::Cdr scdr(cdrbuffer);
if (topics.getMsg(topic_ID, scdr))
{
length = scdr.getSerializedDataLength();
if (0 < (length = transport_node->write(topic_ID, data_buffer, length)))
{
length = scdr.getSerializedDataLength();
if (0 < (length = transport_node->write(topic_ID, data_buffer, length)))
{
total_sent += length;
++sent;
}
total_sent += length;
++sent;
}
}
cv_msg.wait_for(lk, std::chrono::microseconds(_options.sleep_us));
}
}
@[end if]@
@@ -274,7 +276,7 @@ int main(int argc, char** argv)
std::chrono::time_point<std::chrono::steady_clock> start, end;
@[end if]@
topics.init(&cv_msg);
topics.init(&t_send_queue_cv, &t_send_queue_mutex, &t_send_queue);
running = true;
@[if recv_topics]@
@@ -307,12 +309,13 @@ int main(int argc, char** argv)
received = sent = total_read = total_sent = 0;
receiving = false;
}
@[end if]@
@[else]@
usleep(_options.sleep_us);
@[end if]@
}
@[if recv_topics]@
exit_sender_thread = true;
t_send_queue_cv.notify_one();
sender_thread.join();
@[end if]@
delete transport_node;