add mutex lock when writing is_emergency_mode variable

snozawa · Jul 26, 2015 · ff6cbe4 · ff6cbe4
1 parent 70f68b2
commit ff6cbe4
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Showing 2 changed files with 7 additions and 0 deletions.
diff --git a/rtc/EmergencyStopper/EmergencyStopper.cpp b/rtc/EmergencyStopper/EmergencyStopper.cpp
@@ -18,6 +18,8 @@
 #include "EmergencyStopper.h"
 #include "../SoftErrorLimiter/beep.h"
 
+typedef coil::Guard<coil::Mutex> Guard;
+
 // Module specification
 // <rtc-template block="module_spec">
 static const char* emergencystopper_spec[] =
@@ -179,6 +181,7 @@ RTC::ReturnCode_t EmergencyStopper::onActivated(RTC::UniqueId ec_id)
 RTC::ReturnCode_t EmergencyStopper::onDeactivated(RTC::UniqueId ec_id)
 {
  std::cout << m_profile.instance_name<< ": onDeactivated(" << ec_id << ")" << std::endl;
+ Guard guard(m_mutex);
  if (is_stop_mode) {
  is_stop_mode = false;
  recover_time = 0;
@@ -229,6 +232,7 @@ RTC::ReturnCode_t EmergencyStopper::onExecute(RTC::UniqueId ec_id)
  if (m_emergencySignalIn.isNew()){
  m_emergencySignalIn.read();
  if (!is_stop_mode) {
+ Guard guard(m_mutex);
  std::cerr << "[" << m_profile.instance_name << "] emergencySignal is set!" << std::endl;
  is_stop_mode = true;
  }
@@ -338,6 +342,7 @@ RTC::ReturnCode_t EmergencyStopper::onExecute(RTC::UniqueId ec_id)
 
 bool EmergencyStopper::stopMotion()
 {
+ Guard guard(m_mutex);
  if (!is_stop_mode) {
  is_stop_mode = true;
  std::cerr << "[" << m_profile.instance_name << "] stopMotion is called" << std::endl;
@@ -347,6 +352,7 @@ bool EmergencyStopper::stopMotion()
 
 bool EmergencyStopper::releaseMotion()
 {
+ Guard guard(m_mutex);
  if (is_stop_mode) {
  is_stop_mode = false;
  std::cerr << "[" << m_profile.instance_name << "] releaseMotion is called" << std::endl;

diff --git a/rtc/EmergencyStopper/EmergencyStopper.h b/rtc/EmergencyStopper/EmergencyStopper.h
@@ -162,6 +162,7 @@ class EmergencyStopper
  interpolator* m_interpolator;
  std::queue<std::vector<double> > m_input_posture_queue;
  int emergency_stopper_beep_count, emergency_stopper_beep_freq;
+ coil::Mutex m_mutex;
 };