Fix the lock_guard placement

saikishor · web-flow · commit faf7e2139d2f · 2024-12-19T11:29:17.000+01:00
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -685,8 +685,8 @@ void ResourceManager::load_urdf(
   const std::string actuator_type = "actuator";
 
   const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
+  std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);
   if (load_and_initialize_components)
-    std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);
   {
     for (const auto & individual_hardware_info : hardware_info)
     {
@@ -716,7 +716,6 @@ void ResourceManager::load_urdf(
     validate_storage(hardware_info);
   }
 
-  std::lock_guard<std::recursive_mutex> guard(resources_lock_);
   read_write_status.failed_hardware_names.reserve(
     resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +
     resource_storage_->systems_.size());

Original file line number	Diff line number	Diff line change
`@@ -685,8 +685,8 @@ void ResourceManager::load_urdf(`
`685`	`685`	`const std::string actuator_type = "actuator";`
`686`	`686`
`687`	`687`	`const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);`
	`688`	`+ std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);`
`688`	`689`	`if (load_and_initialize_components)`
`689`		`- std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);`
`690`	`690`	`{`
`691`	`691`	`for (const auto & individual_hardware_info : hardware_info)`
`692`	`692`	`{`
`@@ -716,7 +716,6 @@ void ResourceManager::load_urdf(`
`716`	`716`	`validate_storage(hardware_info);`
`717`	`717`	`}`
`718`	`718`
`719`		`- std::lock_guard<std::recursive_mutex> guard(resources_lock_);`
`720`	`719`	`read_write_status.failed_hardware_names.reserve(`
`721`	`720`	`resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +`
`722`	`721`	`resource_storage_->systems_.size());`