Solved a bug with some uninitialized pointers in the thread.

Solved a bug when double freeing a mutex when a communication timeout occurs.

src/asterx1_gps.cpp

@@ -124,7 +124,8 @@ void CasteRx1::open_device()
     this->thread_server->start_thread(this->gps_process_data_thread_id);
     // configure the data streams
     this->configure_streams();
-  }catch(CCommException &e){
+  }catch(CException &e){
+    this->close_device();
     if(this->serial_port!=NULL)
     {
       delete this->serial_port;
@@ -139,18 +140,25 @@ void CasteRx1::close_device()
   // stop the internal acquisition thread if necessary
   this->stop_acquisition();
   // close the serial port
-  if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active)
-  {
+  if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active ||
+     this->thread_server->get_thread_state(this->gps_process_data_thread_id)==starting)
+  { 
     this->event_server->set_event(this->finish_thread_event_id);
     this->thread_server->end_thread(this->gps_process_data_thread_id);
   }
+  /* reset any pending events */
+  if(this->event_server->event_is_set(this->new_reply_event_id))
+    this->event_server->reset_event(this->new_reply_event_id);
+  if(this->event_server->event_is_set(this->finish_thread_event_id))
+    this->event_server->reset_event(this->finish_thread_event_id);
   if(this->serial_port!=NULL)
     this->serial_port->close(); 
 }
 
 void CasteRx1::start_acquisition()
 {
-  if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active)
+  if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active ||
+     this->thread_server->get_thread_state(this->gps_process_data_thread_id)==starting)
   {
     if(!this->gps_running)
     {
@@ -333,7 +341,7 @@ void *CasteRx1::gps_process_data_thread(void *params)
   CasteRx1 *gps=(CasteRx1 *)params;
   static gps_state_t state=header1;
   std::list<std::string> events;
-  unsigned char *data,*sbf_data;
+  unsigned char *data=NULL,*sbf_data=NULL;
   std::string reply;
   bool end=false;
   
@@ -350,14 +358,20 @@ void *CasteRx1::gps_process_data_thread(void *params)
         gps->gps_access.enter();
         num=gps->serial_port->get_num_data(); 
         if(data!=NULL)
+        {
           delete[] data;
+          data=NULL;
+        }
         data=new unsigned char[num];
         gps->serial_port->read(data,num);
         gps->gps_access.exit();
       }catch(CException &e){
         std::cout << e.what() << std::endl;
         if(data!=NULL)
+        {
           delete[] data;
+          data=NULL;
+        }
         gps->gps_access.exit();
       }
       for(i=0;i<num;i++)
@@ -1237,7 +1251,6 @@ void CasteRx1::send_command(const std::string &cmd)
     this->gps_access.exit();
   }catch(CEventTimeoutException &e){
     // no answer in the allowed time
-    this->gps_access.exit();
     throw CasteRx1Exception(_HERE_,"Device did not answer in time");
   }
 }