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fix modules coredump due to data race in shm_manager #87

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fix modules coredump due to data race in shm_manager #87

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1 change: 1 addition & 0 deletions ros/ros_comm/roscpp/include/ros/subscription.h
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Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,7 @@ class ROSCPP_DECL Subscription : public boost::enable_shared_from_this<Subscript

std::vector<PublisherLinkPtr> get_publisher_links()
{
boost::mutex::scoped_lock lock(publisher_links_mutex_);
return publisher_links_;
}
};
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4 changes: 2 additions & 2 deletions ros/ros_comm/roscpp/src/libros/shm_manager.cpp
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Expand Up @@ -136,7 +136,7 @@ void ShmManager::threadFunc()
if (g_config_comm.topic_white_list.find(topic) !=
g_config_comm.topic_white_list.end() ||
shm_map_.find(topic) != shm_map_.end() ||
(*it)->get_publisher_links().size() == 0)
(*it)->getNumPublishers() == 0)
{
continue;
}
Expand Down Expand Up @@ -243,7 +243,7 @@ void ShmManager::threadFunc()

// Block needs to be allocated
if (read_index == sharedmem_transport::ROS_SHM_SEGMENT_WROTE_NUM ||
shm_map_[topic].shm_sub_ptr->get_publisher_links().size() == 0)
shm_map_[topic].shm_sub_ptr->getNumPublishers() == 0)
{
{
boost::mutex::scoped_lock lock(shm_map_mutex_);
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1 change: 1 addition & 0 deletions ros/ros_comm/roscpp/src/libros/topic_manager.cpp
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Expand Up @@ -229,6 +229,7 @@ SubscriptionPtr TopicManager::lookupSubscription(const std::string& topic)

L_Subscription TopicManager::getAllSubscription()
{
boost::mutex::scoped_lock lock(subs_mutex_);
return subscriptions_ ;
}

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