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Protect DepthCameraPlugin globals with a mutex #2949

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Apr 7, 2021
Merged

Protect DepthCameraPlugin globals with a mutex #2949

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19 changes: 10 additions & 9 deletions plugins/DepthCameraPlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,16 +16,20 @@
*/

#include <functional>
#include <mutex>
#include <unordered_map>

#include "plugins/DepthCameraPlugin.hh"

using namespace gazebo;
GZ_REGISTER_SENSOR_PLUGIN(DepthCameraPlugin)

std::mutex global_maps_mutex;

// Added this map to avoid breaking the ABI
static std::map<DepthCameraPlugin*, event::ConnectionPtr>
static std::unordered_map<DepthCameraPlugin*, event::ConnectionPtr>
connection_reflectance_map;
static std::map<DepthCameraPlugin*, event::ConnectionPtr>
static std::unordered_map<DepthCameraPlugin*, event::ConnectionPtr>
connection_normals_map;
/////////////////////////////////////////////////
DepthCameraPlugin::DepthCameraPlugin()
Expand All @@ -40,13 +44,9 @@ DepthCameraPlugin::~DepthCameraPlugin()
this->newRGBPointCloudConnection.reset();
this->newImageFrameConnection.reset();

std::map<DepthCameraPlugin*, event::ConnectionPtr>::iterator it;
it = connection_reflectance_map.find(this);
it->second.reset();
connection_reflectance_map.erase(it);
it = connection_normals_map.find(this);
it->second.reset();
connection_normals_map.erase(it);
std::lock_guard<std::mutex> guard{global_maps_mutex};
connection_reflectance_map.erase(this);
connection_normals_map.erase(this);

this->parentSensor.reset();
this->depthCamera.reset();
Expand Down Expand Up @@ -93,6 +93,7 @@ void DepthCameraPlugin::Load(sensors::SensorPtr _sensor,
std::placeholders::_3, std::placeholders::_4,
std::placeholders::_5));

std::lock_guard<std::mutex> guard{global_maps_mutex};
connection_reflectance_map.
insert(std::pair<DepthCameraPlugin*, event::ConnectionPtr>
(this, newReflectanceFrameConnection));
Expand Down