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lock around taking the buffer and deciding to get a copy of the message or popping it

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Dirk Thomas 2017-08-10 14:51:17 -07:00
parent 40b09b5b14
commit 48b19af04a
1 changed files with 3 additions and 0 deletions
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rclcpp/include/rclcpp/intra_process_manager.hpp
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@ -23,6 +23,7 @@
#include <exception> #include <exception>
#include <map> #include <map>
#include <memory> #include <memory>
#include <mutex>
#include <unordered_map> #include <unordered_map>
#include <set> #include <set>
@ -315,6 +316,7 @@ public:
message = nullptr; message = nullptr;
size_t target_subs_size = 0; size_t target_subs_size = 0;
std::lock_guard<std::mutex> lock(take_mutex_);
mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->take_intra_process_message( mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->take_intra_process_message(
intra_process_publisher_id, intra_process_publisher_id,
message_sequence_number, message_sequence_number,
@ -346,6 +348,7 @@ private:
get_next_unique_id(); get_next_unique_id();
IntraProcessManagerImplBase::SharedPtr impl_; IntraProcessManagerImplBase::SharedPtr impl_;
std::mutex take_mutex_;
}; };
} // namespace intra_process_manager } // namespace intra_process_manager