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Fix the race!

release/4.3a0
Fan Jiang 2022-04-05 00:00:53 -04:00
parent 99c01c4dba
commit 027a4a5a8e
1 changed files with 32 additions and 2 deletions
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34
gtsam/inference/ClusterTree-inst.h
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@ -15,6 +15,10 @@
#include <gtsam/base/timing.h> #include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h> #include <gtsam/base/treeTraversal-inst.h>
#ifdef GTSAM_USE_TBB
#include <mutex>
#endif
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
@ -120,20 +124,39 @@ struct EliminationData {
size_t myIndexInParent; size_t myIndexInParent;
FastVector<sharedFactor> childFactors; FastVector<sharedFactor> childFactors;
boost::shared_ptr<BTNode> bayesTreeNode; boost::shared_ptr<BTNode> bayesTreeNode;
#ifdef GTSAM_USE_TBB
boost::shared_ptr<std::mutex> writeLock;
#endif
EliminationData(EliminationData* _parentData, size_t nChildren) : EliminationData(EliminationData* _parentData, size_t nChildren) :
parentData(_parentData), bayesTreeNode(boost::make_shared<BTNode>()) { parentData(_parentData), bayesTreeNode(boost::make_shared<BTNode>())
#ifdef GTSAM_USE_TBB
, writeLock(boost::make_shared<std::mutex>())
#endif
{
if (parentData) { if (parentData) {
#ifdef GTSAM_USE_TBB
parentData->writeLock->lock();
#endif
myIndexInParent = parentData->childFactors.size(); myIndexInParent = parentData->childFactors.size();
parentData->childFactors.push_back(sharedFactor()); parentData->childFactors.push_back(sharedFactor());
#ifdef GTSAM_USE_TBB
parentData->writeLock->unlock();
#endif
} else { } else {
myIndexInParent = 0; myIndexInParent = 0;
} }
// Set up BayesTree parent and child pointers // Set up BayesTree parent and child pointers
if (parentData) { if (parentData) {
#ifdef GTSAM_USE_TBB
parentData->writeLock->lock();
#endif
if (parentData->parentData) // If our parent is not the dummy node if (parentData->parentData) // If our parent is not the dummy node
bayesTreeNode->parent_ = parentData->bayesTreeNode; bayesTreeNode->parent_ = parentData->bayesTreeNode;
parentData->bayesTreeNode->children.push_back(bayesTreeNode); parentData->bayesTreeNode->children.push_back(bayesTreeNode);
#ifdef GTSAM_USE_TBB
parentData->writeLock->unlock();
#endif
} }
} }
@ -196,8 +219,15 @@ struct EliminationData {
nodesIndex_.insert(std::make_pair(j, myData.bayesTreeNode)); nodesIndex_.insert(std::make_pair(j, myData.bayesTreeNode));
// Store remaining factor in parent's gathered factors // Store remaining factor in parent's gathered factors
if (!eliminationResult.second->empty()) if (!eliminationResult.second->empty()) {
#ifdef GTSAM_USE_TBB
myData.parentData->writeLock->lock();
#endif
myData.parentData->childFactors[myData.myIndexInParent] = eliminationResult.second; myData.parentData->childFactors[myData.myIndexInParent] = eliminationResult.second;
#ifdef GTSAM_USE_TBB
myData.parentData->writeLock->unlock();
#endif
}
} }
}; };
}; };