BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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multi thread bug fixed.

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zerom
2017-08-09 14:27:40 +09:00
parent daf53e36e7
commit 05f4a5e51c
1 changed files with 5 additions and 1 deletions
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6
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@ -1501,7 +1501,7 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
}
else
{
ROS_WARN("WriteControlTable] Unknown item : %s", msg->start_item_name.c_str());
ROS_WARN("[WriteControlTable] Unknown item : %s", msg->start_item_name.c_str());
return;
}
@ -1569,6 +1569,8 @@ void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::Syn
if (item->access_type_ == Read)
continue;
queue_mutex_.lock();
int idx = 0;
if (direct_sync_write_.size() == 0)
{
@ -1604,6 +1606,8 @@ void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::Syn
}
direct_sync_write_[idx]->addParam(device->id_, data);
delete[] data;
queue_mutex_.unlock();
}
}