Update async_update_stop_ within the scope of the lock to avoid missi…

…ng notify
ros-controls · Apr 22, 2024 · 0856453 · 0856453
1 parent cbb0617
commit 0856453
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/controller_interface/include/controller_interface/async_function_handler.hpp b/controller_interface/include/controller_interface/async_function_handler.hpp
@@ -176,7 +176,10 @@ class AsyncFunctionHandler
   {
     if (is_running())
     {
-      async_update_stop_ = true;
+      {
+        std::unique_lock<std::mutex> lock(async_mtx_);
+        async_update_stop_ = true;
+      }
       async_update_condition_.notify_one();
       thread_.join();
     }

diff --git a/controller_interface/test/test_async_function_handler.cpp b/controller_interface/test/test_async_function_handler.cpp
@@ -125,7 +125,7 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering)
   ASSERT_TRUE(async_class.get_handler().is_initialized());
   ASSERT_TRUE(async_class.get_handler().is_running());
   ASSERT_FALSE(async_class.get_handler().is_stopped());
-  async_class.get_handler().wait_for_trigger_cycle_to_finish();
+  std::this_thread::sleep_for(std::chrono::microseconds(1));
   async_class.get_handler().stop_async_update();
   ASSERT_EQ(async_class.get_counter(), 2);