修改程序中断

others/include/additions.h

@@ -35,6 +35,8 @@ void extract(cv::Mat &src);
 
 double getPointLength(const cv::Point2f &p);
 
+#include <mutex>
+
 // 循环队列
 template<class type, int length>
 class RoundQueue {
@@ -43,6 +45,7 @@ private:
     int head;
     int tail;
     int count;
+    mutable std::mutex mtx;
 public:
     RoundQueue<type, length>() : head(0), tail(0), count(0) {};
 
@@ -51,14 +54,17 @@ public:
     };
 
     int size() const {
+        std::lock_guard<std::mutex> lock(mtx);
         return count;
     };
 
     bool empty() const {
+        std::lock_guard<std::mutex> lock(mtx);
         return count == 0;
     };
 
     void push(const type &obj) {
+        std::lock_guard<std::mutex> lock(mtx);
         data[head] = obj;
         head = (head + 1) % length;
         if (count < length) {
@@ -69,15 +75,17 @@ public:
     };
 
     bool pop(type &obj) {
-        if (empty()) return false;
+        std::lock_guard<std::mutex> lock(mtx);
+        if (count == 0) return false;
         obj = data[tail];
         tail = (tail + 1) % length;
         count--;
         return true;
     };
 
-    type &operator[](int idx) {
-        if (count == 0) return data[0];
+    type operator[](int idx) const {
+        std::lock_guard<std::mutex> lock(mtx);
+        if (count == 0) return data[0]; // will return garbage but safe from crash
         if (idx < 0) idx += count;
         if (idx < 0) idx = 0;
         if (idx >= count) idx = count - 1;