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deadlock fix #766

Merged
merged 1 commit into from
Oct 8, 2021
Merged

deadlock fix #766

merged 1 commit into from
Oct 8, 2021

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randaz81
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@randaz81 randaz81 commented Oct 8, 2021

Fixed a deadlock issue caused by a non-recursive mutex used by recursive function calls.

The bug was affecting several multi-joint methods, e.g. getControlModesRaw(const int n_joints, const int *joints, int *modes). If those methods are called once, the robot gets frozen.

The std::mutex has been changed to std::rescursive_mutex.

pattacini
pattacini approved these changes Oct 8, 2021
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Nice catch 👍🏻
Just awaiting the CI to complete and then merging.

@pattacini pattacini merged commit 5a47946 into robotology:master Oct 8, 2021
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