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Use recursive_mutex to allow callbacks to reenter #123

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Use recursive_mutex to allow callbacks to reenter #123

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10 changes: 5 additions & 5 deletions rmw_connextdds_common/include/rmw_connextdds/rmw_waitset_std.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ class RMW_Connext_Condition
bool & already_active,
FunctorT && check_trigger)
{
std::lock_guard<std::mutex> lock(this->mutex_internal);
std::lock_guard<std::recursive_mutex> lock(this->mutex_internal);
already_active = check_trigger();
if (!already_active) {
this->waitset_mutex = waitset_mutex;
Expand All @@ -95,7 +95,7 @@ class RMW_Connext_Condition
void
detach(FunctorT && on_detached)
{
std::lock_guard<std::mutex> lock(this->mutex_internal);
std::lock_guard<std::recursive_mutex> lock(this->mutex_internal);
this->waitset_mutex = nullptr;
this->waitset_condition = nullptr;
on_detached();
Expand All @@ -107,7 +107,7 @@ class RMW_Connext_Condition
void
update_state(FunctorT && update_condition, const bool notify)
{
std::lock_guard<std::mutex> internal_lock(this->mutex_internal);
std::lock_guard<std::recursive_mutex> internal_lock(this->mutex_internal);

if (nullptr != this->waitset_mutex) {
std::lock_guard<std::mutex> lock(*this->waitset_mutex);
Expand All @@ -125,7 +125,7 @@ class RMW_Connext_Condition
void
perform_action_and_update_state(FunctorA && action, FunctorT && update_condition)
{
std::lock_guard<std::mutex> internal_lock(this->mutex_internal);
std::lock_guard<std::recursive_mutex> internal_lock(this->mutex_internal);

action();

Expand All @@ -138,7 +138,7 @@ class RMW_Connext_Condition
}

protected:
std::mutex mutex_internal;
std::recursive_mutex mutex_internal;
std::mutex * waitset_mutex;
std::condition_variable * waitset_condition;

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