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Backport to 9: fixes for gzserver shutdown and ogre log test #2968

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Apr 21, 2021
Merged

Backport to 9: fixes for gzserver shutdown and ogre log test #2968

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e168953
Protect DepthCameraPlugin globals with a mutex (#2949)
ivanpauno Apr 7, 2021
94d4547
Avoid deadlock in ConnectionManager::Stop (#2950)
ivanpauno Apr 7, 2021
1ea1841
Fix ogre_log test (#2954)
scpeters Mar 30, 2021
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7 changes: 3 additions & 4 deletions gazebo/transport/ConnectionManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -215,6 +215,9 @@ void ConnectionManager::Fini()
return;

this->Stop();
if (this->initialized)
while (this->stopped == false)
common::Time::MSleep(100);

if (this->masterConn)
{
Expand Down Expand Up @@ -244,10 +247,6 @@ void ConnectionManager::Fini()
void ConnectionManager::Stop()
{
this->stop = true;
this->updateCondition.notify_all();
if (this->initialized)
while (this->stopped == false)
common::Time::MSleep(100);
}

//////////////////////////////////////////////////
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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
17 changes: 14 additions & 3 deletions test/integration/ogre_log.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -65,9 +65,20 @@ TEST_F(OgreLog, LogError)
if (line.find(" GL_EXTENSIONS =") < 12)
continue;

EXPECT_EQ(line.find("Error"), std::string::npos);
EXPECT_EQ(line.find("error"), std::string::npos);
EXPECT_EQ(line.find("ERROR"), std::string::npos);
// A GLX extension may have the word "error" in its name. For example:
// GLX_ARB_create_context_no_error.
// We will skip the line that lists all the extensions. This line starts
// with a date, so we just check that "Supported GLX extensions:" is
// toward the beginning.
// False positive cppcheck
// https://sourceforge.net/p/cppcheck/discussion/general/thread/0c113d65/
// cppcheck-suppress stlIfStrFind
if (line.find(" Supported GLX extensions: ") < 12)
continue;

EXPECT_EQ(line.find("Error"), std::string::npos) << line;
EXPECT_EQ(line.find("error"), std::string::npos) << line;
EXPECT_EQ(line.find("ERROR"), std::string::npos) << line;
}
}

Expand Down