From d684b359ecf5cdc69678677f99bfa4071ea9ad3f Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Tue, 11 Sep 2018 10:13:36 +0200
Subject: [PATCH] made NJointController cleanup exception safe
---
.../NJointControllers/NJointController.cpp | 30 +++++++++++--------
1 file changed, 18 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
index 45d8f734d..c8ff87492 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
@@ -295,17 +295,22 @@ namespace armarx
NJointController::~NJointController()
{
// make sure the destructor of the handles does not throw an exception and triggers a termination of the process
- try
+ ARMARX_DEBUG << "Deleting thread handles";
+ ScopedLock lock(threadHandlesMutex);
+ for (auto& pair : threadHandles)
{
- ARMARX_DEBUG << "Deleting thread handles";
- ScopedLock lock(threadHandlesMutex);
- for (auto& pair : threadHandles)
+ try
{
+
auto& name = pair.first;
auto& handle = pair.second;
- if (!handle)
+ if (!handle || !handle->isValid())
+ {
+ ARMARX_VERBOSE << "Thread Handle is NULL or invalid - skipping";
+ continue;
+ }
+ if (handle->isDetached())
{
- ARMARX_VERBOSE << "Thread Handle is NULL - skipping";
continue;
}
std::future_status status;
@@ -325,14 +330,15 @@ namespace armarx
}
while (status != std::future_status::ready);
}
+ catch (...)
+ {
+ handleExceptions();
+ }
+ }
+
+ threadHandles.clear();
- threadHandles.clear();
- }
- catch (...)
- {
- handleExceptions();
- }
}
ControlTargetBase* NJointController::useControlTarget(const std::string& deviceName, const std::string& controlMode)
--
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