fix: prevent segfault when using MuJoCo viewer Reload button#120
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SHABRAWii wants to merge 1 commit into
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fix: prevent segfault when using MuJoCo viewer Reload button#120SHABRAWii wants to merge 1 commit into
SHABRAWii wants to merge 1 commit into
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Two race conditions crash the simulator on Reload: 1. PhysicsLoop calls mj_deleteData/mj_deleteModel while the bridge threads are still reading from those pointers. Fix: add two std::atomic<bool> globals (g_bridge_pause_request / g_bridge_paused) as a pause/resume handshake. PhysicsLoop waits for the bridge to stop before freeing memory. UnitreeSdk2BridgeThread destroys and recreates the bridge on each reload instead of holding stale pointers forever. 2. RecurrentThread::~RecurrentThread() destroys mFunc (the run() lambda) before sending pthread_cancel, and never sets mQuit. If the thread wakes between those two steps it calls the destroyed std::function and hits std::terminate(). Fix: replace RecurrentThread with a std::thread owned by RobotBridge, controlled by a std::atomic<bool> stop_flag_. pre_destroy() sets the flag and joins the thread — guaranteed clean exit before any destructor runs.
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Two race conditions crash the simulator on Reload:
PhysicsLoop calls mj_deleteData/mj_deleteModel while the bridge threads are still reading from those pointers. Fix: add two std::atomic globals (g_bridge_pause_request / g_bridge_paused) as a pause/resume handshake. PhysicsLoop waits for the bridge to stop before freeing memory. UnitreeSdk2BridgeThread destroys and recreates the bridge on each reload instead of holding stale pointers forever.
RecurrentThread::~RecurrentThread() destroys mFunc (the run() lambda) before sending pthread_cancel, and never sets mQuit. If the thread wakes between those two steps it calls the destroyed std::function and hits std::terminate(). Fix: replace RecurrentThread with a std::thread owned by RobotBridge, controlled by a std::atomic stop_flag_. pre_destroy() sets the flag and joins the thread — guaranteed clean exit before any destructor runs.