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fix thread handling of node_status_publisher. #2058

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merged 1 commit into from
Mar 6, 2019
Merged

fix thread handling of node_status_publisher. #2058

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4 changes: 3 additions & 1 deletion ...rc/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,8 @@ class NodeStatusPublisher {
void publishStatus();
bool node_activated_;
std::mutex mtx_;
boost::thread publish_thread_;
bool ros_ok_;
};
}
#endif // NODE_STATUS_PUBLISHER_H_INCLUDED
#endif // NODE_STATUS_PUBLISHER_H_INCLUDED
13 changes: 8 additions & 5 deletions ros/src/system/autoware_health_checker/src/node_status_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,17 +23,21 @@ namespace autoware_health_checker {
NodeStatusPublisher::NodeStatusPublisher(ros::NodeHandle nh,
ros::NodeHandle pnh) {
node_activated_ = false;
ros_ok_ = true;
nh_ = nh;
pnh_ = pnh;
status_pub_ =
nh_.advertise<autoware_system_msgs::NodeStatus>("node_status", 10);
}

NodeStatusPublisher::~NodeStatusPublisher() {}
NodeStatusPublisher::~NodeStatusPublisher() {
ros_ok_ = false;
publish_thread_.join();
}

void NodeStatusPublisher::publishStatus() {
ros::Rate rate = ros::Rate(autoware_health_checker::UPDATE_RATE);
while (ros::ok()) {
while (ros_ok_) {
mtx_.lock();
autoware_system_msgs::NodeStatus status;
status.node_activated = node_activated_;
Expand Down Expand Up @@ -70,8 +74,7 @@ void NodeStatusPublisher::publishStatus() {
}

void NodeStatusPublisher::ENABLE() {
boost::thread publish_thread(
boost::bind(&NodeStatusPublisher::publishStatus, this));
publish_thread_ = boost::thread(boost::bind(&NodeStatusPublisher::publishStatus, this));
return;
}

Expand Down Expand Up @@ -219,4 +222,4 @@ std::string NodeStatusPublisher::doubeToJson(double value) {
write_json(ss, pt);
return ss.str();
}
}
}