fix(hw): data race condition on started variable

Open-Agriculture · Feb 4, 2025 · cf93199 · cf93199
1 parent a71c186
commit cf93199
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/hardware_integration/include/isobus/hardware_integration/can_hardware_interface.hpp b/hardware_integration/include/isobus/hardware_integration/can_hardware_interface.hpp
@@ -190,7 +190,7 @@ namespace isobus
 		static std::vector<std::unique_ptr<CANHardware>> hardwareChannels; ///< A list of all CAN channel's metadata
 		static Mutex hardwareChannelsMutex; ///< Mutex to protect `hardwareChannels`
 		static Mutex updateMutex; ///< A mutex for the main thread
-		static bool started; ///< Stores if the threads have been started
+		static std::atomic_bool started; ///< Stores if the threads have been started
 	};
 }
 #endif // CAN_HARDWARE_INTERFACE_HPP
diff --git a/hardware_integration/src/can_hardware_interface.cpp b/hardware_integration/src/can_hardware_interface.cpp
@@ -31,7 +31,7 @@ namespace isobus
 	std::vector<std::unique_ptr<CANHardwareInterface::CANHardware>> CANHardwareInterface::hardwareChannels;
 	Mutex CANHardwareInterface::hardwareChannelsMutex;
 	Mutex CANHardwareInterface::updateMutex;
-	bool CANHardwareInterface::started = false;
+	std::atomic_bool CANHardwareInterface::started = { false };
 
 	CANHardwareInterface CANHardwareInterface::SINGLETON;