[ros-dev] Mayday ... Critical Section problems

[Rick Parrish]

Christian Wallukat wrote:
> Do you have another idea ?
>   
Maybe ...
> BTW: Can you explain what a Sleep(0) does ?
>   
The idea is to have the thread requesting the lock to briefly yield the 
CPU (at least the remainder of the current time quantum). Some other 
thread that might already have the lock acquired gets a change to finish 
it's work and release the lock.

In your original post - you mentioned 200 threads. Are these threads all 
fighting for the same critical section?

Perhaps you could break up the main data structure into smaller pieces - 
each with it's own critical section (finer granularity of locking).

Instead of 199 threads waiting on 1 thread (that has the lock) you have 
180 threads waiting on 20 others to release some lock (but each of the 
20 is able to continue unimpeded).

-rick