C++回调函数中调用Python函数出现的死锁问题调试及解决

一、查找死锁原因：

1、使用gdb exe指令进入gdb命令行，再输入r运行可执行文件

gdb /home/sdhm/catkin_ws/devel/lib/gpd_ros/gpd_server
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
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Reading symbols from /home/sdhm/catkin_ws/devel/lib/gpd_ros/gpd_server...done.
(gdb) r
Starting program: /home/sdhm/catkin_ws/devel/lib/gpd_ros/gpd_server 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffd5c41700 (LWP 1837)]
[New Thread 0x7fffd5440700 (LWP 1838)]
[New Thread 0x7fffd4c3f700 (LWP 1839)]
[New Thread 0x7fffcffff700 (LWP 1844)]
[New Thread 0x7fffcc85d700 (LWP 1847)]
[New Thread 0x7fffbdfff700 (LWP 1848)]
[New Thread 0x7fffbd7fe700 (LWP 1849)]
[New Thread 0x7fffb8ffd700 (LWP 1850)]
[New Thread 0x7fffb67fc700 (LWP 1851)]
[New Thread 0x7fffb3ffb700 (LWP 1852)]
[New Thread 0x7fffb17fa700 (LWP 1853)]
[Thread 0x7fffb17fa700 (LWP 1853) exited]
[Thread 0x7fffb3ffb700 (LWP 1852) exited]
[Thread 0x7fffb67fc700 (LWP 1851) exited]
[Thread 0x7fffb8ffd700 (LWP 1850) exited]
[Thread 0x7fffbd7fe700 (LWP 1849) exited]
[Thread 0x7fffbdfff700 (LWP 1848) exited]
[Thread 0x7fffcc85d700 (LWP 1847) exited]
[New Thread 0x7fffb17fa700 (LWP 1874)]
[New Thread 0x7fffb3ffb700 (LWP 1875)]
[New Thread 0x7fffb67fc700 (LWP 1876)]
[New Thread 0x7fffb8ffd700 (LWP 1925)]
[New Thread 0x7fff006eb700 (LWP 1926)]
[New Thread 0x7ffeffeea700 (LWP 1927)]
[New Thread 0x7ffeff6e9700 (LWP 1928)]
[New Thread 0x7ffefeee8700 (LWP 1929)]
[New Thread 0x7ffefe6e7700 (LWP 1930)]
[New Thread 0x7ffefdee6700 (LWP 1931)]
[New Thread 0x7ffefd6e5700 (LWP 1933)]
[New Thread 0x7ffefcee4700 (LWP 1935)]
[New Thread 0x7ffed7fff700 (LWP 1936)]
[New Thread 0x7ffed77fe700 (LWP 1937)]
[New Thread 0x7ffed6ffd700 (LWP 1938)]
[New Thread 0x7ffed67fc700 (LWP 1939)]
[New Thread 0x7ffed5ffb700 (LWP 1940)]
[New Thread 0x7ffed57fa700 (LWP 1941)]
[New Thread 0x7ffed4ff9700 (LWP 1942)]
[New Thread 0x7ffeb767e700 (LWP 1943)]
[New Thread 0x7ffeb6e7d700 (LWP 1944)]
[New Thread 0x7ffeb667c700 (LWP 1945)]
[New Thread 0x7ffeb5e7b700 (LWP 1946)]
[New Thread 0x7ffeb567a700 (LWP 1948)]
[New Thread 0x7ffeb4e79700 (LWP 1949)]
[New Thread 0x7ffeaffff700 (LWP 1950)]
[New Thread 0x7ffeaf7fe700 (LWP 1951)]
[New Thread 0x7ffeaeffd700 (LWP 1952)]
[New Thread 0x7ffeae7fc700 (LWP 1953)]
[New Thread 0x7ffeadffb700 (LWP 2166)]
[New Thread 0x7ffead7fa700 (LWP 2167)]
[New Thread 0x7ffeacff9700 (LWP 2168)]
[New Thread 0x7ffea7fff700 (LWP 2169)]
[New Thread 0x7ffea77fe700 (LWP 2170)]
[New Thread 0x7ffea6ffd700 (LWP 2171)]
[New Thread 0x7ffea67fc700 (LWP 2172)]

2、此时程序死锁，持续运行，但不往下走，按下ctrl + c

^C
Thread 1 "gpd_server" received signal SIGINT, Interrupt.
0x00007ffff72fcc1d in nanosleep () at ../sysdeps/unix/syscall-template.S:84
84	../sysdeps/unix/syscall-template.S: No such file or directory.

3、查看线程栈信息，info stack，这个命令只能查看当前正在运行的某个线程的栈信息 

(gdb) inf