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Synchronise predicate (#160)

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* ensure synchronised access to our predicate

Signed-off-by: Aaron <aaron.lipinski@cm-robotics.com>

* release lock before signalling

Signed-off-by: Aaron <aaron.lipinski@cm-robotics.com>

Signed-off-by: Aaron <aaron.lipinski@cm-robotics.com>
This commit is contained in:
cmraaron
2022-08-19 09:17:36 +02:00
committed by GitHub
parent da7fb682e9
commit d4be840332
1 changed files with 5 additions and 3 deletions
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micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+5 -3
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@@ -126,8 +126,10 @@ GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
// Set graph cache on change callback function // Set graph cache on change callback function
graphCache_.set_on_change_callback([this]() graphCache_.set_on_change_callback([this]()
{ {
std::unique_lock<std::mutex> lock(this->mtx_); {
this->graph_changed_ = true; std::unique_lock<std::mutex> lock(this->mtx_);
this->graph_changed_ = true;
}
this->cv_.notify_one(); this->cv_.notify_one();
}); });
@@ -144,6 +146,7 @@ inline void GraphManager::publish_microros_graph()
{ {
return this->graph_changed_; return this->graph_changed_;
}); });
graph_changed_ = false;
} }
if (display_on_change_) if (display_on_change_)
@@ -151,7 +154,6 @@ inline void GraphManager::publish_microros_graph()
std::cout << "Updated uros Graph: graph changed" << std::endl; std::cout << "Updated uros Graph: graph changed" << std::endl;
std::cout << graphCache_ << std::endl; std::cout << graphCache_ << std::endl;
} }
graph_changed_ = false;
micro_ros_msgs::msg::Graph graph_message; micro_ros_msgs::msg::Graph graph_message;