Golitsin Vyacheslavandmatlabbe c59e0d7c35 fix(DBDriver): resolve lock-order inversion between dbSafeAccess and trashes mutexes (#1775) ...

* 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

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Co-authored-by: matlabbe <[email protected]>

2026-09-27 22:43:06 -07:00

..

rtabmap/core

fix(DBDriver): resolve lock-order inversion between dbSafeAccess and trashes mutexes (#1775)

2026-09-27 22:43:06 -07:00