TrajectoryExecutionManager: fix race condition (moveit#1709)

Fix race condition accessing execution_thread_ by adding a new mutex.
ubi-agni · Nov 8, 2019 · bbd2718 · bbd2718
1 parent 61b2445
commit bbd2718
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 4 deletions.
diff --git a/...cution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/...cution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -321,6 +321,7 @@ class TrajectoryExecutionManager
 
   boost::mutex execution_state_mutex_;
   boost::mutex continuous_execution_mutex_;
+  boost::mutex execution_thread_mutex_;
 
   boost::condition_variable continuous_execution_condition_;
 

diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -1172,8 +1172,12 @@ void TrajectoryExecutionManager::stopExecution(bool auto_clear)
       ROS_INFO_NAMED(name_, "Stopped trajectory execution.");
 
       // wait for the execution thread to finish
-      execution_thread_->join();
-      execution_thread_.reset();
+      boost::mutex::scoped_lock lock(execution_thread_mutex_);
+      if (execution_thread_)
+      {
+        execution_thread_->join();
+        execution_thread_.reset();
+      }
 
       if (auto_clear)
         clear();
@@ -1184,8 +1188,12 @@ void TrajectoryExecutionManager::stopExecution(bool auto_clear)
   else if (execution_thread_)  // just in case we have some thread waiting to be joined from some point in the past, we
                                // join it now
   {
-    execution_thread_->join();
-    execution_thread_.reset();
+    boost::mutex::scoped_lock lock(execution_thread_mutex_);
+    if (execution_thread_)
+    {
+      execution_thread_->join();
+      execution_thread_.reset();
+    }
   }
 }