Fix segfault by 1) avoiding any concurrency on m_socket when the link is a reciever by leaving all connexion issue t the thread and 2) checking that the socket is set before using it (#18)

Author: bakpaul

src/sofa/igtlink/sockets/iGTLinkBase.cpp

@@ -18,8 +18,11 @@ namespace sofa::openigtlink
 
     iGTLinkBase::~iGTLinkBase()
     {
-        m_receiverThread ->stopThread();
-        delete m_receiverThread;
+        if (m_receiverThread)
+        {
+            m_receiverThread ->stopThread();
+            delete m_receiverThread;
+        }
     }
 
     void iGTLinkBase::addMessageObject(iGTLinkMessageBase *_object)
@@ -86,7 +89,9 @@ namespace sofa::openigtlink
     {
         if(sofa::simulation::AnimateBeginEvent::checkEventType(event))
         {
-            if(d_componentState.getValue()!=ComponentState::Valid)
+            // If we are not a sender, then we let the thread deal with connexions to avoid having
+            // to slow everything with mutex
+            if(d_sender.getValue() && d_componentState.getValue()!=ComponentState::Valid)
             {
                 if(!tryConnect()) return;
             }

src/sofa/igtlink/sockets/iGTLinkClient.h

@@ -16,7 +16,7 @@ namespace sofa::openigtlink
     {
     public:
         iGTLinkClient();
-        ~iGTLinkClient() = default;
+        ~iGTLinkClient();
 
         void init();
 

src/sofa/igtlink/sockets/iGTLinkClient.inl

@@ -12,6 +12,11 @@ iGTLinkClient::iGTLinkClient()
 
 }
 
+iGTLinkClient::~iGTLinkClient()
+{
+    m_socket->CloseSocket();
+}
+
 
 void iGTLinkClient::init()
 {
@@ -50,13 +55,16 @@ bool iGTLinkClient::tryConnect()
 
 bool iGTLinkClient::isConnected()
 {
-    bool connected = m_socket->GetConnected();
+    bool connected = m_socket && m_socket->GetConnected();
     if(!connected)
     {
         msg_warning(this) << "Socket not connected to hostname : " << d_hostname.getValue() << ":" <<d_port.getValue();
         d_componentState.setValue(ComponentState::Loading);
     }
-    d_componentState.setValue(ComponentState::Valid);
+    else
+    {
+        d_componentState.setValue(ComponentState::Valid);
+    }
     return connected;
 }
 

src/sofa/igtlink/sockets/iGTLinkServer.inl

@@ -45,7 +45,7 @@ bool iGTLinkServer::tryConnect()
     m_socket = m_serverSocket->WaitForConnection(10);
     if(!m_socket)
     {
-        std::cout << (std::string("No client connected currently on port :") + std::to_string(d_port.getValue())) <<std::endl;
+        std::cout << "No client connected currently on port :" << std::to_string(d_port.getValue())<<std::endl;
         d_componentState.setValue(ComponentState::Loading);
     }
     else
@@ -69,13 +69,16 @@ bool iGTLinkServer::tryConnect()
 
 bool iGTLinkServer::isConnected()
 {
-    bool connected = m_socket->GetConnected();
+
+    bool connected = m_socket && m_socket->GetConnected();
     if(!connected)
     {
-        msg_warning(std::string("Socket not connected to port : ") + std::to_string(d_port.getValue()));
         d_componentState.setValue(ComponentState::Loading);
     }
-    d_componentState.setValue(ComponentState::Valid);
+    else
+    {
+        d_componentState.setValue(ComponentState::Valid);
+    }
     return connected;
 }