Merge PR IntelRealSense#22 from Nir-Az/fix_rgb_stability_on_ac

Protect deadlock when closing RGB sensor while AC runs
aangerma · Jul 8, 2020 · 5ad7289 · 5ad7289
2 parents 5d40288 + 5adcbd3
commit 5ad7289
Showing 1 changed file with 22 additions and 6 deletions.
diff --git a/src/l500/ac-trigger.cpp b/src/l500/ac-trigger.cpp
@@ -511,12 +511,28 @@ namespace ivcam2 {
         if( !_own_color_stream.exchange( false ) )
             return;
 
-        AC_LOG( INFO, "STOPPING color sensor..." );
-        auto & color_sensor = *_dev.get_color_sensor();
-        color_sensor.stop();
-        AC_LOG( INFO, "CLOSING color sensor..." );
-        color_sensor.close();
-        AC_LOG( INFO, "Closed!" );
+        // By using a thread we protect a case that tries to close a sensor from it's processing block callback and creates a deadlock.
+        std::thread([&]()
+        {
+            try
+            {
+                AC_LOG(INFO, "STOPPING color sensor...");
+                auto & color_sensor = *_dev.get_color_sensor();
+                color_sensor.stop();
+                AC_LOG(INFO, "CLOSING color sensor...");
+                color_sensor.close();
+                AC_LOG(INFO, "Closed!");
+            }
+            catch (std::exception& ex)
+            {
+                AC_LOG(ERROR, "caught exception in closing color sensor: " << ex.what());
+            }
+            catch (...)
+            {
+                AC_LOG(ERROR, "unknown exception in closing color sensor");
+            }
+        }).detach();
+
     }