From 27963fb1067bae6f751b8fe673f610f1ab549787 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 6 Apr 2021 14:30:14 +0200
Subject: [PATCH] Added mutex intialization and destruction
---
include/iri_base_bt_client/iri_base_bt_client.h | 2 ++
1 file changed, 2 insertions(+)
diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index fc9e39b..caba2ee 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -422,12 +422,14 @@ IriBaseBTClient<ConfigClass>::IriBaseBTClient(const ros::NodeHandle &nh) :
ROS_DEBUG("IriBaseBTClient: tree_xml_file set to: %s", this->tree_xml_file.c_str());
// set the diagnostic period
this->private_node_handle_.setParam("diagnostic_period",0.1);
+ pthread_mutex_init(&this->access_,NULL);
}
template <class ConfigClass>
IriBaseBTClient<ConfigClass>::~IriBaseBTClient()
{
ROS_DEBUG("IriBaseBTClient::Destructor");
+ pthread_mutex_destroy(&this->access_);
pthread_cancel(this->thread);
pthread_join(this->thread,NULL);
--
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