From 0f2421857bf1087546e130a0234bd8a5c93de493 Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Thu, 21 Dec 2023 13:59:53 +0100
Subject: [PATCH] fix: deadlock in startExecutionWithParams
---
.../skills_gui/memory/SkillManagerWrapper.cpp | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index 0f99ff132..0bfd294f4 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -242,8 +242,6 @@ namespace armarx::skills::gui
SkillManagerWrapper::startExecutionWithParams(skills::SkillID& skillId,
aron::data::DictPtr const params)
{
- std::scoped_lock l(mutex_memory);
-
// Memory???
if (!memory)
{
@@ -259,7 +257,11 @@ namespace armarx::skills::gui
return;
}
- const auto& skillDescriptions = this->fetchSkills().at(providerId.value());
+ std::map<skills::SkillID, skills::SkillDescription> skillDescriptions;
+ {
+ skillDescriptions = this->fetchSkills().at(providerId.value());
+ }
+
if (skillDescriptions.find(skillId) == skillDescriptions.end())
{
ARMARX_IMPORTANT << "The Skill: '" << skillId.skillName
@@ -281,7 +283,8 @@ namespace armarx::skills::gui
try
{
- memory->begin_executeSkill(req.toManagerIce());
+ std::scoped_lock l(mutex_memory);
+ memory->executeSkillAsync(req.toManagerIce());
}
catch (Ice::Exception const& e)
{
--
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