Better protect this->dataPtr->initialized with renderMutex. #1119
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Signed-off-by: Hill Ma <[email protected]>
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@@ Coverage Diff @@
## ign-gazebo4 #1119 +/- ##
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Coverage 67.00% 67.00%
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Files 244 244
Lines 18262 18263 +1
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+ Hits 12236 12237 +1
Misses 6026 6026
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iche033
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Oct 19, 2021
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…m#1119) Signed-off-by: Hill Ma <[email protected]> Co-authored-by: Ian Chen <[email protected]> Signed-off-by: William Lew <[email protected]>
azeey
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| @@ -417,6 +417,7 @@ void Sensors::Update(const UpdateInfo &_info, | |||
| EntityComponentManager &_ecm) | |||
| { | |||
| IGN_PROFILE("Sensors::Update"); | |||
| std::unique_lock<std::mutex> lock(this->dataPtr->renderMutex); | |||
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I know this is merged, but I just noticed this. If I understand correctly, having this mutex lock here could prevent sensors from updating in parallel with physics. This would happen if the Sensors system comes before the Physics system in the SDFormat file. Here's the sequence of events that could happen:
- In the
Sensors::PostUpdate, a new render is triggered that takes a long time to complete. The render thread locksrenderMutexand starts the render. - In the next phase,
Sensors::Updatetries to acquirerenderMutexand blocks because the render is not complete. This also blocksPhysics::Updatefrom being called because it comes afterSensors::Update.
Can some one verify this?
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Tested with running ThreadSanitizer on some code involves camera sensor rendering.