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fixed deadlock when *.oni reading is finished

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This commit is contained in:
matlabbe
2015-04-23 10:49:55 -04:00
parent a72ea25eac
commit c1e15c0f2f
3 changed files with 95 additions and 48 deletions
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utilite/include/rtabmap/utilite/USemaphore.h
+37 -14
View File
@@ -32,6 +32,7 @@
#define SEM_VALUE_MAX ((int) ((~0u) >> 1))
#else
#include <pthread.h>
#include <sys/time.h>
#endif
/**
@@ -83,30 +84,48 @@ public:
* calling thread will wait until the count acquired is released.
* @see release()
* @param n number to acquire
* @param t time to wait (ms), a value <=0 means infinite
* @return true on success, false on error/timeout
*/
#ifdef _WIN32
void acquire(int n = 1) const
bool acquire(int n = 1, int ms = 0) const
{
while(n-- > 0)
int rt = 0;
while(n-- > 0 && rt==0)
{
WaitForSingleObject((HANDLE)S,INFINITE);
rt = WaitForSingleObject((HANDLE)S, ms<=0?INFINITE:ms);
}
return rt == 0;
}
#else
void acquire(int n = 1)
bool acquire(int n = 1, int ms = 0)
{
int rt = 0;
pthread_mutex_lock(&_waitMutex);
while (n > _available)
while (n > _available && rt == 0)
{
while(1)
if(ms > 0)
{
pthread_cond_wait(&_cond, &_waitMutex);
break;
struct timespec timeToWait;
struct timeval now;
gettimeofday(&now,NULL);
timeToWait.tv_sec = now.tv_sec + ms/1000;
timeToWait.tv_nsec = (now.tv_usec+1000UL*(ms%1000))*1000UL;
rt = pthread_cond_timedwait(&_cond, &_waitMutex, &timeToWait);
}
else
{
rt = pthread_cond_wait(&_cond, &_waitMutex);
}
}
_available -= n;
pthread_mutex_unlock(&_waitMutex);
#endif
return rt == 0;
}
#endif
/*
* Try to acquire the semaphore, not a blocking call.
@@ -116,6 +135,7 @@ public:
int acquireTry() const
{
return ((WaitForSingleObject((HANDLE)S,INFINITE)==WAIT_OBJECT_0)?0:EAGAIN);
}
#else
int acquireTry(int n)
{
@@ -128,8 +148,8 @@ public:
_available -= n;
pthread_mutex_unlock(&_waitMutex);
return true;
#endif
}
#endif
/**
* Release the semaphore, increasing its value by 1 and
@@ -139,6 +159,7 @@ public:
int release(int n = 1) const
{
return (ReleaseSemaphore((HANDLE)S,n,0)?0:ERANGE);
}
#else
void release(int n = 1)
{
@@ -146,8 +167,8 @@ public:
_available += n;
pthread_cond_broadcast(&_cond);
pthread_mutex_unlock(&_waitMutex);
#endif
}
#endif
/**
* Get the USempahore's value.
@@ -157,6 +178,7 @@ public:
int value() const
{
LONG V = -1; ReleaseSemaphore((HANDLE)S,0,&V); return V;
}
#else
int value()
{
@@ -165,8 +187,8 @@ public:
value = _available;
pthread_mutex_unlock(&_waitMutex);
return value;
#endif
}
#endif
#ifdef _WIN32
/*
@@ -182,15 +204,16 @@ public:
#endif
private:
void operator=(const USemaphore &S){}
#ifdef _WIN32
USemaphore(const USemaphore &S){}
HANDLE S;
#else
USemaphore(const USemaphore &S):_available(0){}
pthread_mutex_t _waitMutex;
pthread_cond_t _cond;
int _available;
#endif
void operator=(const USemaphore &S){}
USemaphore(const USemaphore &S){}
};
#endif // USEMAPHORE_H