Avoid deadlock in ConnectionManager::Stop (gazebosim#2950)

ivanpauno · scpeters · scpeters · commit 61265a9877e5 · 2021-04-14T10:46:20.000-07:00
Signed-off-by: Ivan Santiago Paunovic &lt;ivanpauno@ekumenlabs.com&gt;

Co-authored-by: Steve Peters &lt;scpeters@openrobotics.org&gt;
diff --git a/gazebo/transport/ConnectionManager.cc b/gazebo/transport/ConnectionManager.cc
@@ -215,6 +215,9 @@ void ConnectionManager::Fini()
     return;
 
   this->Stop();
+  if (this->initialized)
+    while (this->stopped == false)
+      common::Time::MSleep(100);
 
   if (this->masterConn)
   {
@@ -244,10 +247,6 @@ void ConnectionManager::Fini()
 void ConnectionManager::Stop()
 {
   this->stop = true;
-  this->updateCondition.notify_all();
-  if (this->initialized)
-    while (this->stopped == false)
-      common::Time::MSleep(100);
 }
 
 //////////////////////////////////////////////////

Original file line number	Diff line number	Diff line change
`@@ -215,6 +215,9 @@ void ConnectionManager::Fini()`
`215`	`215`	`return;`
`216`	`216`
`217`	`217`	`this->Stop();`
	`218`	`+ if (this->initialized)`
	`219`	`+ while (this->stopped == false)`
	`220`	`+ common::Time::MSleep(100);`
`218`	`221`
`219`	`222`	`if (this->masterConn)`
`220`	`223`	`{`
`@@ -244,10 +247,6 @@ void ConnectionManager::Fini()`
`244`	`247`	`void ConnectionManager::Stop()`
`245`	`248`	`{`
`246`	`249`	`this->stop = true;`
`247`		`- this->updateCondition.notify_all();`
`248`		`- if (this->initialized)`
`249`		`- while (this->stopped == false)`
`250`		`- common::Time::MSleep(100);`
`251`	`250`	`}`
`252`	`251`
`253`	`252`	`//////////////////////////////////////////////////`