Merge pull request #3147 from traversaro/fixshmemunixstreamcarriersfo…

…rnwc Fix use of shmem and unix_stream carriers in remote_controlboard and multipleanalogsensorclient network wrapper clients
robotology · Nov 12, 2024 · 91decec · 91decec
2 parents 1e4c5ee + da454ae
commit 91decec
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Showing 4 changed files with 21 additions and 2 deletions.
diff --git a/doc/release/master.md b/doc/release/master.md
@@ -51,6 +51,7 @@ New Features
 * Removed h264 Carrier
 * Added gstreamer carrier with extended functionalities.
 * Added new gstreamers plugins: yarpvideosource, yarpvidepassthrough, yarpvideosink
+* Fixed segfault on disconnection with shmem carrier.
 
 ### Devices
 
@@ -98,7 +99,11 @@ New Features
 
 #### FakePythonSpeechTranscription
 
-* Added new device `FakePythonSpeechTranscription`. The device is also an example which demonstrates the encapsulation of python code inside a c++ device implementing a Yarp interface. 
+* Added new device `FakePythonSpeechTranscription`. The device is also an example which demonstrates the encapsulation of python code inside a c++ device implementing a Yarp interface.
+
+#### multipleanalogsensorsclient
+
+* Always establish the `rpc` connection with the `tcp` carrier, instead of using the `carrier` option as done in YARP <= 3.9 .
 
 ### GUIs
 

diff --git a/src/carriers/shmem_carrier/ShmemInputStream.cpp b/src/carriers/shmem_carrier/ShmemInputStream.cpp
@@ -43,6 +43,8 @@ bool ShmemInputStreamImpl::isOk() const
 
 bool ShmemInputStreamImpl::open(int port, ACE_SOCK_Stream* pSock, int size)
 {
+    std::lock_guard<std::recursive_mutex> l_guard(m_generalMutex);
+
     m_pSock = pSock;
 
     m_pAccessMutex = m_pWaitDataMutex = nullptr;
@@ -102,6 +104,8 @@ bool ShmemInputStreamImpl::open(int port, ACE_SOCK_Stream* pSock, int size)
 
 bool ShmemInputStreamImpl::Resize()
 {
+    std::lock_guard<std::recursive_mutex> l_guard(m_generalMutex);
+
     ++m_ResizeNum;
 
     ACE_Shared_Memory* pNewMap;
@@ -155,6 +159,8 @@ bool ShmemInputStreamImpl::Resize()
 
 int ShmemInputStreamImpl::read(char* data, int len)
 {
+    std::lock_guard<std::recursive_mutex> l_guard(m_generalMutex);
+
     m_pAccessMutex->acquire();
 
     if (m_pHeader->close) {
@@ -193,6 +199,8 @@ int ShmemInputStreamImpl::read(char* data, int len)
 
 yarp::conf::ssize_t ShmemInputStreamImpl::read(yarp::os::Bytes& b)
 {
+    std::lock_guard<std::recursive_mutex> l_guard(m_generalMutex);
+
     m_ReadSerializerMutex.lock();
 
     if (!m_bOpen) {
@@ -230,6 +238,8 @@ yarp::conf::ssize_t ShmemInputStreamImpl::read(yarp::os::Bytes& b)
 
 void ShmemInputStreamImpl::close()
 {
+    std::lock_guard<std::recursive_mutex> l_guard(m_generalMutex);
+
     if (!m_bOpen) {
         return;
     }

diff --git a/src/carriers/shmem_carrier/ShmemInputStream.h b/src/carriers/shmem_carrier/ShmemInputStream.h
@@ -63,6 +63,9 @@ class ShmemInputStreamImpl
 
     std::mutex m_ReadSerializerMutex;
 
+    // Mutex for the whole class, to avoid concurrent close and read
+    std::recursive_mutex m_generalMutex;
+
     ACE_Shared_Memory* m_pMap;
     char* m_pData;
     ShmemHeader_t* m_pHeader;

diff --git a/src/devices/networkWrappers/multipleanalogsensorsclient/MultipleAnalogSensorsClient.cpp b/src/devices/networkWrappers/multipleanalogsensorsclient/MultipleAnalogSensorsClient.cpp
@@ -75,7 +75,8 @@ bool MultipleAnalogSensorsClient::open(yarp::os::Searchable& config)
 
     // Connect ports
     if (!m_externalConnection) {
-        ok = yarp::os::Network::connect(localRPCPortName, remoteRPCPortName, m_carrier);
+        // RPC port needs to be tcp, therefore no carrier option is added here
+        ok = yarp::os::Network::connect(localRPCPortName, remoteRPCPortName);
         if (!ok) {
             yCError(MULTIPLEANALOGSENSORSCLIENT,
                     "Failure connecting port %s to %s.",