Problem with threads solved

Source/CarlaServer/source/carla/server/CarlaCommunication.cpp

@@ -54,8 +54,6 @@ namespace server {
     auto message = std::make_unique<std::string>();
     bool success = false;
 
-    do {
-
       if (!thr.getRestart()) {
         TCPServer::error_code error;
 
@@ -68,13 +66,16 @@ namespace server {
 
         if (!server.Connected()) {
           thr.reconnect();
-          break;
+          return nullptr;
         }
       }
 
-    } while (!success);
-
-    return message;
+    if (!success){
+      return nullptr;
+    }
+    else{
+      return message;
+    }
   }
 
   // This is the thread that listens  a string over the TCP world socket.
@@ -82,7 +83,6 @@ namespace server {
     auto message = std::make_unique<std::string>();
     bool success = false;
 
-    do {
 
       if (!thr.getRestart()) {
         TCPServer::error_code error;
@@ -95,13 +95,16 @@ namespace server {
 
         if (!server.Connected()) {
           thr.reconnect();
-          break;
+          return nullptr;
         }
       }
 
-    } while (!success);
-
-    return message;
+    if (!success) {
+      return nullptr;
+    }
+    else {
+      return message;
+    }
   }
 
   // This is the thread that sends a string over the TCP world socket.

Source/CarlaServer/source/carla/server/TCPServer.cpp

@@ -79,13 +79,14 @@ namespace carla {
             bool end = false, readedBytes = false;
             int readedSize = 0, sizeToRead = -1;
 
-            if (_socket.available() > 0){
+                  std::cout << "Try to read " << std::endl;
+            //if (_socket.available() > 0){
               do {
 
                   std::array<char, 128> buf;
 
-                  size_t len = _socket.read_some(boost::asio::buffer(buf), error);
 
+                  size_t len = _socket.read_some(boost::asio::buffer(buf), error);
 
                   if (error)
                   {
@@ -109,9 +110,12 @@ namespace carla {
                   }
 
               } while ((!readedBytes || sizeToRead > readedSize) && _connected);
+
+              std::cout << "End read" << std::endl;
+
               return true;
-            }
-            else return false;
+            //}
+            //else return false;
 
         }
 

Source/CarlaServer/source/carla/thread/AsyncReadWriteJobQueue.h

@@ -88,7 +88,9 @@ namespace thread {
           if (value != nullptr) {
             _readJob(*value);
           }
+
           if (!_restart){
+            //_writeQueue.wait_and_push(_writeJob);
             _writeQueue.push(std::move(_writeJob()));
           }
 

Source/CarlaServer/source/carla/thread/AsyncWriterJobQueue.h

@@ -17,7 +17,7 @@ namespace thread {
   class AsyncWriterJobQueue {
   public:
 
-    using Job = std::function<std::unique_ptr<T>()>;
+  using Job = std::function<std::unique_ptr<T>()>;
 	using ConnectJob = std::function<void()>;
   using ReconnectJob = std::function<void()>;
 
@@ -65,7 +65,8 @@ namespace thread {
         _restart = false;
         _queue.canWait(true);
         while (!_restart && !_done) {
-          _queue.push(std::move(_job()));
+          //_queue.wait_and_push(_job);
+          _queue.push(std::move(_job())); 
 		      //Sleep(10);
         }
       }

Source/CarlaServer/source/carla/thread/ThreadSafeQueue.h

@@ -12,8 +12,11 @@ namespace thread {
   /// A thread safe buffer.
   template<typename T>
   class ThreadSafeQueue {
+
   public:
 
+    using Job = std::function<std::unique_ptr<T>()>;
+
     ThreadSafeQueue() : _canWait(true) {}
 
     ThreadSafeQueue(const ThreadSafeQueue &) = delete;
@@ -25,6 +28,16 @@ namespace thread {
       _condition.notify_one();
     }
 
+
+    void wait_and_push(Job job){
+      std::unique_lock<std::mutex> lock(_mutex);
+      _condition.wait(lock, [this, job]() {
+        _value = std::move(job());
+        return _value != nullptr || !_canWait;
+      });
+      _condition.notify_one();
+    }
+
     void canWait(bool wait){
       std::lock_guard<std::mutex> lock(_mutex);
       _canWait = wait;