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Dbdriver trash mutex build time protection (#1778)

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* fix(DBDriver): resolve lock-order inversion between dbSafeAccess and trashes mutexes

emptyTrashes() acquired _dbSafeAccessMutex while holding _trashesMutex
(M1->M0), whereas the load() path acquires _dbSafeAccessMutex and then,
inside loadQuery()->getLastWordId(), acquires _trashesMutex (M0->M1).
This opposite nesting forms a lock-order cycle that ThreadSanitizer flags
as a potential deadlock.

Acquire _dbSafeAccessMutex only after releasing _trashesMutex, matching
the sequential 'look in trash, then database' pattern used by every other
DBDriver accessor (getLastWordId, getLastMapId, getInvertedIndexNi, ...).

Refs: #1765

* Fxing the actual deadlock

* Added doc

* DBDriverSqlite3: deny usage of public trash mutex protected functions from internal query implementations

---------

Co-authored-by: webzuweb <[email protected]>
This commit is contained in:
matlabbe
2026-09-27 22:43:58 -07:00
committed by GitHub
co-authored by webzuweb
parent c59e0d7c35
commit b7079e050b
2 changed files with 51 additions and 11 deletions
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corelib/include/rtabmap/core/DBDriverSqlite3.h
+34
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@@ -156,6 +156,40 @@ public:
void setTempStore(int tempStore);
protected:
/**
* @name Trash-checking DBDriver methods, hidden on purpose
* @brief These public DBDriver methods lock the trash mutex. They are hidden here so that
* *Query() implementations, which are called with the database mutex already locked,
* cannot call them by mistake (it would invert the lock order with DBDriver::emptyTrashes()
* and could deadlock). Call the corresponding *Query() method instead.
*
* To call them from outside, use a DBDriver pointer or reference (e.g., DBDriver::create()).
* @{*/
void asyncSave(Signature * s) = delete;
void asyncSave(VisualWord * vw) = delete;
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false) = delete;
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws) = delete;
void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const = delete;
void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const = delete;
void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const = delete;
bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = delete;
bool getLaserScanInfo(int signatureId, LaserScan & info) const = delete;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = delete;
void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = delete;
void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = delete;
void getWeight(int signatureId, int & weight) const = delete;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const = delete;
void getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren = false, bool ignoreIntermediateNodes = false) const = delete;
void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const = delete;
void getLastNodeId(int & id) const = delete;
void getLastMapId(int & mapId) const = delete;
void getLastWordId(int & id) const = delete;
void getInvertedIndexNi(int signatureId, int & ni) const = delete;
void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const = delete;
void getNodeIdByLabel(const std::string & label, int & id) const = delete;
void getAllLabels(std::map<int, std::string> & labels) const = delete;
/** @} */
virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);
virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
virtual bool isConnectedQuery() const;