Fix another deadlock in sensors system (#2141)

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Oct 10, 2023 · 664054c · 664054c
1 parent ba40627
commit 664054c
Showing 1 changed file with 9 additions and 3 deletions.
diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
@@ -389,9 +389,12 @@ void SensorsPrivate::RunOnce()
  this->activeSensors.clear();
  }
 
- this->updateAvailable = false;
  this->forceUpdate = false;
- this->renderCv.notify_one();
+ {
+ std::unique_lock<std::mutex> cvLock(this->renderMutex);
+ this->updateAvailable = false;
+ this->renderCv.notify_one();
+ }
 }
 
 //////////////////////////////////////////////////
@@ -726,9 +729,12 @@ void Sensors::PostUpdate(const UpdateInfo &_info,
  this->dataPtr->forceUpdate =
  (this->dataPtr->renderUtil.PendingSensors() > 0) ||
  hasRenderConnections;
+ }
+ {
+ std::unique_lock<std::mutex> cvLock(this->dataPtr->renderMutex);
  this->dataPtr->updateAvailable = true;
+ this->dataPtr->renderCv.notify_one();
  }
- this->dataPtr->renderCv.notify_one();
  }
  }
 }