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Use atomic bool instead of volatile uint32_t #2357

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Use atomic bool instead of volatile uint32_t #2357

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13 changes: 5 additions & 8 deletions clients/roscpp/include/ros/connection.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,10 +40,11 @@

#include <boost/signals2.hpp>

#include <boost/atomic.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/shared_array.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>

Expand Down Expand Up @@ -230,9 +231,7 @@ class ROSCPP_DECL Connection : public boost::enable_shared_from_this<Connection>
/// Flag telling us if we're in the middle of a read (mostly to avoid recursive deadlocking)
bool reading_;
/// flag telling us if there is a read callback
/// 32-bit loads and stores are atomic on x86 and PPC... TODO: use a cross-platform atomic operations library
/// to ensure this is done atomically
volatile uint32_t has_read_callback_;
boost::atomic<bool> has_read_callback_;

/// Buffer to write from
boost::shared_array<uint8_t> write_buffer_;
Expand All @@ -248,9 +247,7 @@ class ROSCPP_DECL Connection : public boost::enable_shared_from_this<Connection>
/// Flag telling us if we're in the middle of a write (mostly used to avoid recursive deadlocking)
bool writing_;
/// flag telling us if there is a write callback
/// 32-bit loads and stores are atomic on x86 and PPC... TODO: use a cross-platform atomic operations library
/// to ensure this is done atomically
volatile uint32_t has_write_callback_;
boost::atomic<bool> has_write_callback_;

/// Function to call when the outgoing header has finished writing
WriteFinishedFunc header_written_callback_;
Expand Down
14 changes: 7 additions & 7 deletions clients/roscpp/src/libros/connection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,11 +50,11 @@ Connection::Connection()
, read_filled_(0)
, read_size_(0)
, reading_(false)
, has_read_callback_(0)
, has_read_callback_(false)
, write_sent_(0)
, write_size_(0)
, writing_(false)
, has_write_callback_(0)
, has_write_callback_(false)
, sending_header_error_(false)
{
}
Expand Down Expand Up @@ -137,7 +137,7 @@ void Connection::readTransport()
uint32_t size = read_size_;
read_size_ = 0;
read_filled_ = 0;
has_read_callback_ = 0;
has_read_callback_ = false;

if (callback)
{
Expand Down Expand Up @@ -170,7 +170,7 @@ void Connection::readTransport()
read_buffer_.reset();
read_size_ = 0;
read_filled_ = 0;
has_read_callback_ = 0;
has_read_callback_ = false;

ROS_DEBUG_NAMED("superdebug", "Calling read callback");
callback(shared_from_this(), buffer, size, true);
Expand Down Expand Up @@ -234,7 +234,7 @@ void Connection::writeTransport()
write_buffer_ = boost::shared_array<uint8_t>();
write_sent_ = 0;
write_size_ = 0;
has_write_callback_ = 0;
has_write_callback_ = false;
}

ROS_DEBUG_NAMED("superdebug", "Calling write callback");
Expand Down Expand Up @@ -277,7 +277,7 @@ void Connection::read(uint32_t size, const ReadFinishedFunc& callback)
read_buffer_ = boost::shared_array<uint8_t>(new uint8_t[size]);
read_size_ = size;
read_filled_ = 0;
has_read_callback_ = 1;
has_read_callback_ = true;
}

transport_->enableRead();
Expand All @@ -302,7 +302,7 @@ void Connection::write(const boost::shared_array<uint8_t>& buffer, uint32_t size
write_buffer_ = buffer;
write_size_ = size;
write_sent_ = 0;
has_write_callback_ = 1;
has_write_callback_ = true;
}

transport_->enableWrite();
Expand Down