fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 07:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

microRTPS: agent: fix double free memory problem on SIGINT

Browse Source 
It fixes also some minor issues when exiting the agent, including the printed stats
This commit is contained in:
TSC21
2021-06-21 16:36:44 +02:00
committed by Nuno Marques
parent 6d5f12d2a2
commit d3a23cee40
6 changed files with 50 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/urtps/microRTPS_timesync.cpp.em
+5 -9
View File
@@ -78,17 +78,15 @@ TimeSync::TimeSync(bool debug)
TimeSync::~TimeSync() { stop(); }
void TimeSync::start(const TimesyncPublisher *pub)
void TimeSync::start(TimesyncPublisher *pub)
{
stop();
_timesync_pub = (*pub);
auto run = [this]() {
auto run = [this, pub]() {
while (!_request_stop) {
timesync_msg_t msg = newTimesyncMsg();
_timesync_pub.publish(&msg);
pub->publish(&msg);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
@@ -102,8 +100,6 @@ void TimeSync::stop()
_request_stop = true;
if (_send_timesync_thread && _send_timesync_thread->joinable()) { _send_timesync_thread->join(); }
_send_timesync_thread.reset();
}
void TimeSync::reset()
@@ -185,7 +181,7 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t
return true;
}
void TimeSync::processTimesyncMsg(timesync_msg_t *msg)
void TimeSync::processTimesyncMsg(timesync_msg_t *msg, TimesyncPublisher *pub)
{
if (getMsgSysID(msg) == 1 && getMsgSeq(msg) != _last_remote_msg_seq) {
_last_remote_msg_seq = getMsgSeq(msg);
@@ -201,7 +197,7 @@ void TimeSync::processTimesyncMsg(timesync_msg_t *msg)
setMsgSeq(msg, getMsgSeq(msg) + 1);
setMsgTC1(msg, getTimeNSec());
_timesync_pub.publish(msg);
pub->publish(msg);
}
}
}