Check code for threading issues - Githubissues

arthurlockman / wyatt

A modular framework for developing testable robots.

http://wyatt.rthr.me

MIT License

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Check code for threading issues #60

Open TuckerHaydon opened 7 years ago

TuckerHaydon commented 7 years ago

Most of the code I wrote is not thread safe. It has not presented itself as an issue, but it may at some point.

Threads: Communicator EncoderAdapter CommandManager

Objects modified by threads: Any IHardwareInterface (although these should ONLY be modified by the communicator).

Locks on data in read/write functions

Any ISensor object (written to by the Communicator, read from by Command)

Locks in updateSensor() and getData()

Communicator (messages written to by Command)

Locks in queueMessage and write