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Fixes undefined behaviour which occurs when mutex is locked in one #145

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Fixes undefined behaviour which occurs when mutex is locked in one #145

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3 changes: 3 additions & 0 deletions include/sick_safetyscanners/cola2/Command.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@
#include <sick_safetyscanners/data_processing/ReadWriteHelper.hpp>

#include <boost/thread/mutex.hpp>
#include <boost/thread/condition_variable.hpp>

namespace sick {
namespace cola2 {
Expand Down Expand Up @@ -197,7 +198,9 @@ class Command
private:
std::shared_ptr<sick::data_processing::ParseTCPPacket> m_tcp_parser_ptr;

boost::condition_variable m_execute_finished_cond_var;
boost::mutex m_execution_mutex;
bool m_is_executing;

bool m_was_successful;

Expand Down
13 changes: 10 additions & 3 deletions src/cola2/Command.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ namespace cola2 {

Command::Command(Cola2Session& session, const uint16_t& command_type, const uint16_t& command_mode)
: m_session(session)
, m_is_executing(false)
, m_command_mode(command_mode)
, m_command_type(command_type)
{
Expand All @@ -52,7 +53,8 @@ Command::Command(Cola2Session& session, const uint16_t& command_type, const uint

void Command::lockExecutionMutex()
{
m_execution_mutex.lock();
boost::mutex::scoped_lock lock(m_execution_mutex);
m_is_executing = true;
}

std::vector<uint8_t> Command::constructTelegram(const std::vector<uint8_t>& telegram) const
Expand All @@ -65,12 +67,17 @@ void Command::processReplyBase(const std::vector<uint8_t>& packet)
{
m_tcp_parser_ptr->parseTCPSequence(packet, *this);
m_was_successful = processReply();
m_execution_mutex.unlock();
}

boost::mutex::scoped_lock lock(m_execution_mutex);
m_is_executing = false;
m_execute_finished_cond_var.notify_one();
}

void Command::waitForCompletion()
{
boost::mutex::scoped_lock lock(m_execution_mutex);
while(m_is_executing)
m_execute_finished_cond_var.wait(lock);
}

bool Command::wasSuccessful() const
Expand Down