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Fix the race! #1158

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merged 2 commits into from
Apr 7, 2022
Merged

Fix the race! #1158

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027a4a5
Fix the race!
ProfFan Apr 5, 2022
af1dedb
Optimize locking
ProfFan Apr 6, 2022
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28 changes: 26 additions & 2 deletions gtsam/inference/ClusterTree-inst.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,10 @@
#include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h>

#ifdef GTSAM_USE_TBB
#include <mutex>
#endif

namespace gtsam {

/* ************************************************************************* */
Expand Down Expand Up @@ -120,12 +124,25 @@ struct EliminationData {
size_t myIndexInParent;
FastVector<sharedFactor> childFactors;
boost::shared_ptr<BTNode> bayesTreeNode;
#ifdef GTSAM_USE_TBB
boost::shared_ptr<std::mutex> writeLock;
#endif

EliminationData(EliminationData* _parentData, size_t nChildren) :
parentData(_parentData), bayesTreeNode(boost::make_shared<BTNode>()) {
parentData(_parentData), bayesTreeNode(boost::make_shared<BTNode>())
#ifdef GTSAM_USE_TBB
, writeLock(boost::make_shared<std::mutex>())
#endif
{
if (parentData) {
#ifdef GTSAM_USE_TBB
parentData->writeLock->lock();
#endif
myIndexInParent = parentData->childFactors.size();
parentData->childFactors.push_back(sharedFactor());
#ifdef GTSAM_USE_TBB
parentData->writeLock->unlock();
#endif
} else {
myIndexInParent = 0;
}
Expand Down Expand Up @@ -196,8 +213,15 @@ struct EliminationData {
nodesIndex_.insert(std::make_pair(j, myData.bayesTreeNode));

// Store remaining factor in parent's gathered factors
if (!eliminationResult.second->empty())
if (!eliminationResult.second->empty()) {
#ifdef GTSAM_USE_TBB
myData.parentData->writeLock->lock();
#endif
myData.parentData->childFactors[myData.myIndexInParent] = eliminationResult.second;
#ifdef GTSAM_USE_TBB
myData.parentData->writeLock->unlock();
#endif
}
}
};
};
Expand Down