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Fix deadlock in websocket server #342

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merged 2 commits into from
Apr 23, 2024
Merged

Fix deadlock in websocket server #342

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4797b50
Fix deadlock in websocket server
arjo129 Apr 22, 2024
fb5918d
Merge branch 'main' into arjo/fix/deadlock_in_websocket
arjo129 Apr 23, 2024
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38 changes: 16 additions & 22 deletions rmf_websocket/src/rmf_websocket/client/ClientWebSocketEndpoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,6 @@ websocketpp::lib::error_code ClientWebSocketEndpoint::connect()
{
websocketpp::lib::error_code ec;


_init = true;
_con = _endpoint->get_connection(_uri, ec);
RCLCPP_INFO(_node->get_logger(), "Attempting to connect to %s", _uri.c_str());
Expand All @@ -140,30 +139,25 @@ websocketpp::lib::error_code ClientWebSocketEndpoint::connect()
auto reconnect_socket = [this]()
{
// TODO(arjo) Parametrize the timeout.
using namespace std::chrono_literals;
if (!_reconnect_enqueued)
{
RCLCPP_ERROR(_node->get_logger(),
"Connection lost\n"
"> Reconnecting in 1s\n"
"> Host: %s", _uri.c_str());
_endpoint->stop_perpetual();
auto io_service = &_endpoint->get_io_service();
_endpoint = std::make_unique<WsClient>();
_endpoint->clear_access_channels(websocketpp::log::alevel::all);
_endpoint->clear_error_channels(websocketpp::log::elevel::all);
_endpoint->init_asio(io_service);
_endpoint->start_perpetual();
websocketpp::lib::error_code ec;

_endpoint->set_timer(1000, std::bind(&ClientWebSocketEndpoint::connect,
this));
_reconnect_enqueued = true;
}
RCLCPP_ERROR(_node->get_logger(),
"Connection lost\n"
"> Reconnecting in 1s\n"
"> Host: %s", _uri.c_str());
_endpoint->stop_perpetual();
auto io_service = &_endpoint->get_io_service();
_endpoint = std::make_unique<WsClient>();
_endpoint->clear_access_channels(websocketpp::log::alevel::all);
_endpoint->clear_error_channels(websocketpp::log::elevel::all);
_endpoint->init_asio(io_service);
_endpoint->start_perpetual();
websocketpp::lib::error_code ec;

_endpoint->set_timer(1000, std::bind(&ClientWebSocketEndpoint::connect,
this));

};
auto connected_cb = [this]()
{
_reconnect_enqueued = false;
_connection_cb();
};

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