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Fixed superglue deadlock on standalone (#896). Fixed some elemSize opencv asserts in debug build (876)

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matlabbe
2023-09-17 01:19:59 -07:00
parent fb466a6a96
commit f1cd819673
11 changed files with 68 additions and 129 deletions
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corelib/src/python/PythonInterface.cpp
+10 -67
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@@ -8,83 +8,26 @@
#include <rtabmap/core/PythonInterface.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UThread.h>
#include <pybind11/embed.h>
namespace rtabmap {
UMutex PythonInterface::mutex_;
int PythonInterface::refCount_ = 0;
PyThreadState * PythonInterface::mainThreadState_ = 0;
unsigned long PythonInterface::mainThreadID_ = 0;
PythonInterface::PythonInterface() :
threadState_(0)
PythonInterface::PythonInterface()
{
UScopeMutex lockM(mutex_);
if(refCount_ == 0)
{
UINFO("Py_Initialize() with thread = %d", UThread::currentThreadId());
// initialize Python
Py_Initialize();
// initialize thread support
PyEval_InitThreads();
Py_DECREF(PyImport_ImportModule("threading"));
//release the GIL, store thread state, set the current thread state to NULL
mainThreadState_ = PyEval_SaveThread();
UASSERT(mainThreadState_);
mainThreadID_ = UThread::currentThreadId();
}
++refCount_;
UINFO("Initialize python interpreter");
guard_ = new pybind11::scoped_interpreter();
pybind11::module::import("threading");
release_ = new pybind11::gil_scoped_release();
}
PythonInterface::~PythonInterface()
{
UScopeMutex lock(mutex_);
if(refCount_>0 && --refCount_==0)
{
// shut down the interpreter
UINFO("Py_Finalize() with thread = %d", UThread::currentThreadId());
PyEval_RestoreThread(mainThreadState_);
Py_Finalize();
}
UINFO("Finalize python interpreter");
delete release_;
delete guard_;
}
void PythonInterface::lock()
{
mutex_.lock();
UDEBUG("Lock: Current thread=%d (main=%d)", UThread::currentThreadId(), mainThreadID_);
if(UThread::currentThreadId() == mainThreadID_)
{
PyEval_RestoreThread(mainThreadState_);
}
else
{
// create a thread state object for this thread
threadState_ = PyThreadState_New(mainThreadState_->interp);
UASSERT(threadState_);
PyEval_RestoreThread(threadState_);
}
}
void PythonInterface::unlock()
{
if(UThread::currentThreadId() == mainThreadID_)
{
mainThreadState_ = PyEval_SaveThread();
}
else
{
PyThreadState_Clear(threadState_);
PyThreadState_DeleteCurrent();
}
UDEBUG("Unlock: Current thread=%d (main=%d)", UThread::currentThreadId(), mainThreadID_);
mutex_.unlock();
}
std::string PythonInterface::getTraceback()
std::string getPythonTraceback()
{
// Author: https://stackoverflow.com/questions/41268061/c-c-python-exception-traceback-not-being-generated