diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
index 4d1107c456655e05c56e1b68ec4e4fc8c1388e61..dee84969496bdf657b3f5fce3eccfe9f99158b91 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.cpp
@@ -124,7 +124,7 @@ namespace armarx
// splashSceen->show();
ui = new ::Ui::ArmarXMainWindow();
- mutex3d.reset(new boost::recursive_mutex);
+ mutex3d = std::make_shared<std::recursive_mutex>();
ArmarXWidgetInfoPtr viewerWidgetInfo(new ArmarXWidgetInfo(ArmarXComponentWidgetController::createInstance<Viewer3DWidget>, Viewer3DWidget::GetWidgetIcon(), QIcon()));
pluginCache.cacheWidget(ARMARX_VIEWER_NAME, viewerWidgetInfo);
diff --git a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
index a57c5a5e099b212d1d7027c6703a28ab41c14901..650431f3964a00830b06b32aad57afda9724abed 100644
--- a/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
+++ b/source/ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h
@@ -115,7 +115,7 @@ namespace armarx
* \brief Provides access to the coin3d mutex. Use this mutex to protect access to the 3d scene.
* \return
*/
- std::shared_ptr<boost::recursive_mutex> getMutex3D();
+ std::shared_ptr<std::recursive_mutex> getMutex3D();
bool existsWidget(const QString& widgetName);
QString getLibraryPathFromPackage(const QString& packageName);
@@ -256,7 +256,7 @@ namespace armarx
QToolButton* openWidgetButton;
QLineEdit* searchField;
AddArmarXWidgetAction* addWidgetAction;
- boost::shared_ptr<boost::recursive_mutex> mutex3d;
+ std::shared_ptr<std::recursive_mutex> mutex3d;
QMap<QString, QAction*> actionList;
QLabel* favoritesLabel;
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp
index 752346c14d5362a1b56a11e6676f29efe7400e4c..1fa5a84c1a4b8e4beb68bcca780116de6a7e103c 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp
@@ -79,7 +79,7 @@ namespace armarx
return;
}
- ScopedRecursiveLockPtr l = viewer->getScopedLock();
+ auto l = viewer->getScopedLock();
if (index < 0 || index >= cb3DViewers->count())
{
@@ -147,7 +147,7 @@ namespace armarx
// clear initialized views and reset node to apply loaded settings
if (viewer)
{
- ScopedRecursiveLockPtr l = viewer->getScopedLock();
+ auto l = viewer->getScopedLock();
selectedViews.clear();
setNode(cb3DViewers->currentIndex());
@@ -275,7 +275,7 @@ namespace armarx
}
}
- void Viewer3DWidget::setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D)
+ void Viewer3DWidget::setMutex3D(RecursiveMutexPtr const& mutex3D)
{
this->mutex3D = mutex3D;
if (viewer)
@@ -341,7 +341,7 @@ namespace armarx
return;
}
- ScopedRecursiveLockPtr l = viewer->getScopedLock();
+ auto l = viewer->getScopedLock();
// ARMARX_INFO << "scene map size: " << sceneMap.size();
this->sceneMap = sceneMap;
int oldIndex = cb3DViewers->currentIndex();
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h
index 947a1047955affb1538486e55f1b2f625af5dc79..2f096cbca3a37c8abf04aa58ff653d8193e1cc08 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h
@@ -79,7 +79,7 @@ namespace armarx
* \brief This mutex is used to protect 3d scene updates.
* \param mutex3D
*/
- void setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D) override;
+ void setMutex3D(RecursiveMutexPtr const& mutex3D) override;
QPointer<QWidget> getCustomTitlebarWidget(QWidget* parent = 0) override;
diff --git a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.cpp b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.cpp
index cf348498c8904ad0686ea4a873c447a43eb15b71..3cd4b3c941583b9068a7b509015e3b17985b5af7 100644
--- a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.cpp
+++ b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.cpp
@@ -48,7 +48,7 @@ namespace armarx
handler = getProxy<ConditionHandlerInterfacePrx>("ConditionHandler");
if (handler)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
QMetaObject::invokeMethod(__widget, "onConnect");
}
refreshAction->setChecked(true);
@@ -86,13 +86,13 @@ namespace armarx
ConditionRegistry ConditionViewerWidgetController::getActiveConditions()
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return currentConditions;
}
ConditionRegistry ConditionViewerWidgetController::getPastConditions()
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return pastConditions;
}
@@ -116,7 +116,7 @@ namespace armarx
if (handler)
{
auto removeResult = handler->begin_removeAllConditions();
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
handler->end_removeAllConditions(removeResult);
}
}
@@ -134,7 +134,7 @@ namespace armarx
{
auto pastResult = handler->begin_getPastConditions();
auto activeResult = handler->begin_getActiveConditions();
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
pastConditions = handler->end_getPastConditions(pastResult);
currentConditions = handler->end_getActiveConditions(activeResult);
}
diff --git a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.h b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.h
index e92aafc58b5447c4cafb570cf9e9e585e2001de0..7c131ad2c96912f9e7b38981fe1dabf79e514701 100644
--- a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.h
+++ b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/ConditionViewerWidgetController.h
@@ -31,6 +31,8 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include "widgets/ConditionViewerWidget.h"
+#include <mutex>
+
class QToolBar;
namespace armarx
@@ -88,7 +90,7 @@ namespace armarx
ConditionRegistry currentConditions;
ConditionRegistry pastConditions;
armarx::PeriodicTask<ConditionViewerWidgetController>::pointer_type updateTask;
- Mutex dataMutex;
+ std::mutex dataMutex;
QPointer<ConditionViewerWidget> __widget;
QPointer<QToolBar> customToolbar;
QAction* refreshAction;
diff --git a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.cpp b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.cpp
index e7feb69849325d2ef7341d80b32bdf93ad46ec80..529d6cf00569a604df63c27150625dbc7e85fbd4 100644
--- a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.cpp
+++ b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.cpp
@@ -125,7 +125,7 @@ namespace armarx
QString TermNode::getDatafieldValue()
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
try
{
@@ -149,7 +149,7 @@ namespace armarx
void TermNode::setTermEvaluationState(bool truthy)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (truthy)
{
@@ -171,7 +171,7 @@ namespace armarx
void TermNode::updateChecksTable(TermImplPtr term)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
LiteralImplPtr literal = LiteralImplPtr::dynamicCast(term);
CheckConfiguration config = literal->getCheckConfiguration();
@@ -245,7 +245,7 @@ namespace armarx
{
bool truthy = false;
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
truthy = curDatafield && literaldatafieldName == curDatafield->getDataFieldIdentifier()->getIdentifierStr();
}
@@ -285,7 +285,7 @@ namespace armarx
void TermNode::updateValueString(const QString& valueString)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
checksTable->setItem(literalRow, eCurrentValueCol, new QTableWidgetItem(valueString));
}
diff --git a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.h b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.h
index 270227763994d67bf4538eb5ce3f3e00215ca441..6a3f43e3095d048e59d1b4bcd5887ee629e4b29b 100644
--- a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.h
+++ b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/TermNode.h
@@ -29,12 +29,12 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/observers/condition/TermImpl.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
-#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
#include <QTableWidget>
+#include <mutex>
+
namespace armarx
{
class ARMARXCOMPONENT_IMPORT_EXPORT TermNode;
@@ -101,8 +101,7 @@ namespace armarx
int literalRow;
std::string literaldatafieldName;
DatafieldRefPtr curDatafield;
- // armarx::PeriodicTask<TermNode>::pointer_type updateTask;
- RecursiveMutex dataMutex;
+ std::recursive_mutex dataMutex;
IceManagerPtr manager;
ConditionHandlerInterfacePrx handler;
diff --git a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.cpp b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.cpp
index 8416fbf4d4ec65b2810e599599cd0e0e41959c75..cde510dd72977fe257523e99ac535b77b2c5ea6c 100644
--- a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.cpp
+++ b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.cpp
@@ -120,7 +120,7 @@ namespace armarx
void ConditionViewerWidget::activeConditionItemSelected(const QItemSelection& selected, const QItemSelection& deselected)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (selected.indexes().size() == 0)
{
@@ -141,7 +141,7 @@ namespace armarx
void ConditionViewerWidget::pastConditionItemSelected(const QItemSelection& selected, const QItemSelection& deselected)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (selected.indexes().size() == 0)
{
@@ -174,7 +174,7 @@ namespace armarx
void ConditionViewerWidget::updateCondition(int conditionId, ConditionRootPtr& condition)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
scene->clear();
ui.checksTableWidget->clearContents();
ui.checksTableWidget->setRowCount(0);
@@ -197,7 +197,7 @@ namespace armarx
std::vector<TreeNodePtr> qtChildren;
int conditionId = -1;
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
qtChildren.push_back(root);
tempChildNodes = root->getChildren();
@@ -247,7 +247,7 @@ namespace armarx
{
if (event->timerId() == timerId)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
// retrieve conditions
activeConditions = controller->getActiveConditions();
pastConditions = controller->getPastConditions();
diff --git a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.h b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.h
index 9c1e8a4f74d230eb762ba902ad6920244efc70ab..f43f75bf5c441def0bab0d0e119be696cae25322 100644
--- a/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.h
+++ b/source/ArmarXGui/gui-plugins/ConditionViewerPlugin/widgets/ConditionViewerWidget.h
@@ -32,11 +32,13 @@
#include "../TermNode.h"
#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <QMainWindow>
#include <QWidget>
#include <string>
+#include <mutex>
#include <map>
@@ -73,7 +75,7 @@ namespace armarx
ConditionItemModel* pastConditionsModel;
ConditionRegistry activeConditions;
ConditionRegistry pastConditions;
- RecursiveMutex dataMutex;
+ std::recursive_mutex dataMutex;
PeriodicTask<ConditionViewerWidget>::pointer_type updateTask;
int timerId;
diff --git a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTable.h b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTable.h
index 7c0931802766de70ff50c59117eaa12214dc2583..0203b80ad3a32fdaa7ecac3b6f8b08ba6f49c968 100644
--- a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTable.h
+++ b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTable.h
@@ -24,7 +24,6 @@
// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/editorfileopener.h>
@@ -34,6 +33,7 @@
// C++
#include <vector>
+#include <mutex>
#define ARMARX_LOG_TIMESTR "Time"
#define ARMARX_LOG_COMPONENTSTR "Component"
@@ -100,10 +100,9 @@ namespace armarx
bool autoscrollActive;
int newMessageCount;
MessageType maxNewLogLevelType;
- Mutex bufferMutex;
+ std::mutex bufferMutex;
std::vector<LogMessage> logBuffer;
QString currentLiveFilter, lastLiveFilter;
- // std::map<int, QModelIndex>::const_reverse_iterator selectedSearchIndex;
int selectedSearchIndex;
EditorFileOpener fileOpener;
diff --git a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.cpp b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.cpp
index cc4daccbe27c4ee86af50e41660686213f6a9851..6a09064834965094838e89a13a52cab14e2cce2e 100644
--- a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.cpp
+++ b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.cpp
@@ -56,7 +56,7 @@ namespace armarx
{
case (int)UserRoles::FullMsgRole:
{
- ScopedLock lock(logEntriesMutex);
+ std::unique_lock lock(logEntriesMutex);
if (row >= (signed int)logEntries.size() || row < 0)
{
return QString("n/A");
@@ -93,7 +93,7 @@ namespace armarx
case Qt::DisplayRole:
case Qt::ToolTipRole:
{
- ScopedLock lock(logEntriesMutex);
+ std::unique_lock lock(logEntriesMutex);
//std::cout << "row " << row << " column:" << column << std::endl;
if (row >= (signed int)logEntries.size() || row < 0)
@@ -257,7 +257,7 @@ namespace armarx
}
- ScopedLock lock(logEntriesMutex);
+ std::unique_lock lock(logEntriesMutex);
//std::cout << "row " << row << " column:" << column << std::endl;
if (row >= (signed int)logEntries.size() || row < 0)
@@ -567,7 +567,7 @@ namespace armarx
{
{
- ScopedLock lock(logEntriesMutex);
+ std::unique_lock lock(logEntriesMutex);
std::vector < LogMessage>::iterator it = logEntries.begin();
int row = 0;
@@ -599,7 +599,7 @@ namespace armarx
bool LogTableModel::addEntry(const LogMessage& entry, int* entriesAdded)
{
{
- ScopedLock lock(logEntriesMutex);
+ std::unique_lock lock(logEntriesMutex);
if (entriesAdded)
{
@@ -702,7 +702,7 @@ namespace armarx
int size;
{
beginRemoveRows(QModelIndex(), 0, logEntries.size() - 1);
- ScopedLock lock(logEntriesMutex);
+ std::unique_lock lock(logEntriesMutex);
size = (int)logEntries.size();
removeRows(0, logEntries.size() - 1);
logEntries.clear();
diff --git a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.h b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.h
index 8a547a42c14c2c6101e2408322c9fb294d8ff501..0e26bc47f1e79010d8e633a51c5e2d8a38937ff1 100644
--- a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.h
+++ b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogTableModel.h
@@ -26,11 +26,11 @@
// ArmarX
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
// C++
#include <vector>
+#include <mutex>
namespace armarx
{
@@ -104,7 +104,7 @@ namespace armarx
std::vector < LogMessage> logEntries;
std::vector <bool> rowMatchesSearch;
- mutable Mutex logEntriesMutex;
+ mutable std::mutex logEntriesMutex;
RunningTask<LogTableModel>::pointer_type searchResultTask;
};
diff --git a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.cpp b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.cpp
index 5742c90993808da6a40b0647cbf0ae78565fcfdb..3c52e1de34abca4f538ef46cce8bd85ff111175e 100644
--- a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.cpp
+++ b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.cpp
@@ -208,7 +208,7 @@ namespace armarx
if (ui.cbVerbosityLevel->currentIndex() <= msg.type)
{
- ScopedLock lock(pendingEntriesMutex);
+ std::unique_lock lock(pendingEntriesMutex);
pendingEntries.push_back(msg);
}
}
@@ -758,7 +758,7 @@ namespace armarx
std::vector <LogMessage> pendingEntriesTemp;
{
- ScopedLock lock(pendingEntriesMutex);
+ std::unique_lock lock(pendingEntriesMutex);
pendingEntriesTemp.swap(pendingEntries);
}
diff --git a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.h b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.h
index d7d424842085f4a197cc223a2c2f5d47614f84a5..c7dcf492120375360267a0c071c11a7ade1efee1 100644
--- a/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.h
+++ b/source/ArmarXGui/gui-plugins/LoggingPlugin/ArmarXLogViewer/LogViewer.h
@@ -30,6 +30,8 @@
#include <QPointer>
#include <QToolBar>
+#include <mutex>
+
class QTimer;
namespace armarx
@@ -130,7 +132,7 @@ namespace armarx
std::vector <LogMessage> pendingEntries;
- mutable Mutex pendingEntriesMutex;
+ mutable std::mutex pendingEntriesMutex;
QTimer* pendingEntriesTimer;
QToolBar* customToolbar;
diff --git a/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.cpp b/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.cpp
index c3825b41be635a2ce92064818d60cc5c345cd5ca..55b8acf7555e53bd7d0c6c122b369d0089d3bd54 100644
--- a/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.cpp
+++ b/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.cpp
@@ -142,7 +142,7 @@ namespace armarx
{
{
// plotterController->clear();
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
plotterController->setUpdateInterval(dialog->ui.spinBoxUpdateInterval->value());
plotterController->setShownInterval(dialog->ui.spinBoxShownInterval->value());
plotterController->setPollingInterval(dialog->ui.spinBoxPollingInterval->value());
@@ -247,7 +247,7 @@ namespace armarx
void ArmarXPlotter::saveSettings(QSettings* settings)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
settings->setValue("updateInterval", plotterController->getUpdateInterval());
settings->setValue("shownInterval", plotterController->getShownInterval());
settings->setValue("pollingInterval", plotterController->getPollingInterval());
@@ -259,7 +259,7 @@ namespace armarx
void ArmarXPlotter::loadSettings(QSettings* settings)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
plotterController->setUpdateInterval(settings->value("updateInterval", 100).toInt());
plotterController->setShownInterval(settings->value("shownInterval", 60).toInt());
plotterController->setPollingInterval(settings->value("pollingInterval", 33).toInt());
diff --git a/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.h b/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.h
index 70aebfacd44bbe499fc80b4e1a443c026b8c8c2a..9a4846c9c1a62507f9cc939c191b2606f9894018 100644
--- a/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.h
+++ b/source/ArmarXGui/gui-plugins/PlotterPlugin/ArmarXPlotter.h
@@ -163,7 +163,7 @@ namespace armarx
bool __plottingPaused;
JSONObjectPtr json;
- Mutex dataMutex;
+ std::mutex dataMutex;
bool syncDataLogging;
std::vector<std::string> csvHeader;
std::ofstream logstream;
diff --git a/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.cpp b/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.cpp
index 8dfa2841fd13e027743fdb21b2d1b8e8f7840410..3754ef745d300b6415f0469657a479de2f02f1a0 100644
--- a/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.cpp
+++ b/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.cpp
@@ -123,7 +123,7 @@ namespace armarx
ui.listWidgetPlots->clear();
plotter->detachItems();
plotter->replot();
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
plotsMap.clear();
}
@@ -145,7 +145,7 @@ namespace armarx
{
return;
}
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
auto it = plotsMap.find(plotName);
if (it == plotsMap.end())
{
@@ -193,7 +193,7 @@ namespace armarx
ARMARX_CHECK_EXPRESSION(!plotsData.empty());
QString qplotName = QString::fromStdString(plotName);
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
plotsMap[qplotName] = plotsData;
}
emit plotAdded(qplotName);
diff --git a/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.h b/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.h
index 9cfacd2d87b337e750df14f90056cbe0833f287c..f4ada85aecc5def49857d8a41a9af27a33557694 100644
--- a/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.h
+++ b/source/ArmarXGui/gui-plugins/PlotterPlugin/StaticPlotterWidgetController.h
@@ -13,7 +13,6 @@
#pragma GCC diagnostic pop
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
-#include <ArmarXCore/core/system/Synchronization.h>
namespace armarx
{
@@ -74,7 +73,7 @@ namespace armarx
Ui::StaticPlotterWidget ui;
QPointer<QwtPlot> plotter;
std::map<QString, StringVector2fSeqDict > plotsMap;
- Mutex dataMutex;
+ std::mutex dataMutex;
QToolBar* customToolbar;
// StaticPlotterInterfacePrx topicPrx ;
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/ScenarioManagerWidgetController.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/ScenarioManagerWidgetController.cpp
index e70fe69e3093982b843f96af8a6fa0b89f105836..6e8e9fbb6b6b20aaf0908955f1ac5fe4803c841e 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/ScenarioManagerWidgetController.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/ScenarioManagerWidgetController.cpp
@@ -32,7 +32,6 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <QMetaType>
#include <ArmarXGui/applications/ArmarXGui/ArmarXMainWindow.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <QToolTip>
using namespace armarx;
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.cpp
index 6b0fc86690676138693948d1f80c499a6952e65c..5b03fbbfc5ce29ab5eca0ce8155fe4bad7bbb6c2 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.cpp
@@ -826,7 +826,7 @@ void ScenarioListController::fetchStati()
{
std::vector<ApplicationInstancePtr> apps;
{
- armarx::ScopedLock lock(applicationInstanceMutex);
+ std::unique_lock lock(applicationInstanceMutex);
apps.swap(applicationInstances);
}
if (apps.empty())
@@ -964,7 +964,7 @@ void ScenarioListController::updateStati()
}
{
- armarx::ScopedLock lock(applicationInstanceMutex);
+ std::unique_lock lock(applicationInstanceMutex);
apps.swap(applicationInstances);
}
}
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.h b/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.h
index 64aaf74af0e2ebd4c8b7d4cd5b582ba75c12f160..bdc4d56145edd7bdbd685adf69835208445b3700 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.h
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/controller/ScenarioListController.h
@@ -29,17 +29,19 @@
#include "../gui/scenariolistview.h"
#include "../gui/createscenarioview.h"
#include "../gui/filterabletreemodelsortfilterproxymodel.h"
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/core/IceManager.h>
#include <ArmarXCore/core/IceGridAdmin.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
#include <ArmarXCore/util/ScenarioManagerCommon/data_structure/Package.h>
#include <ArmarXCore/util/ScenarioManagerCommon/executor/Executor.h>
#include <ArmarXCore/util/ScenarioManagerCommon/data_structure/ApplicationInstance.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
#include <QObject>
+
#include <memory>
#include <vector>
-#include <ArmarXCore/core/logging/Logging.h>
+#include <mutex>
namespace ScenarioManager::Controller
{
@@ -201,7 +203,7 @@ namespace ScenarioManager::Controller
Data_Structure::PackageVectorPtr packages;
// used for fetching application stati, list set before every update by gui thread
std::vector<ApplicationInstancePtr> applicationInstances;
- armarx::Mutex applicationInstanceMutex;
+ std::mutex applicationInstanceMutex;
armarx::SimplePeriodicTask<>::pointer_type updateTask;
Exec::ExecutorPtr executor;
IceGrid::AdminPrx iceAdmin;
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.cpp
index a309d5c62be508325152fde3e1197d52c19d810d..8c1fc45ec936416244bd44b92d793b70ecbb7316 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.cpp
@@ -74,7 +74,7 @@ void ApplicationDatabaseView::on_treeView_clicked(const QModelIndex& index)
emit itemClicked(index);
}
-armarx::Mutex& ApplicationDatabaseView::getMutex()
+std::mutex& ApplicationDatabaseView::getMutex()
{
return mutex;
}
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.h b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.h
index 49869fcace45afb158d1293b866e9e9759175b59..25720df8a369d682bc4cd5b65cf574a20fc2134b 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.h
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/applicationdatabaseview.h
@@ -28,10 +28,11 @@
#include "treemodel.h"
#include "filterabletreemodelsortfilterproxymodel.h"
#include "applicationdatabasemodel.h"
-#include <ArmarXCore/core/system/Synchronization.h>
+
#include <QWidget>
-#include <QMutex>
+
#include <memory>
+#include <mutex>
namespace Ui
{
@@ -54,7 +55,7 @@ public:
explicit ApplicationDatabaseView(QWidget* parent = 0);
~ApplicationDatabaseView() override;
- armarx::Mutex& getMutex();
+ std::mutex& getMutex();
signals:
void testSignal();
@@ -77,6 +78,6 @@ private:
Ui::ApplicationDatabaseView* ui;
FilterableTreeModelSortFilterProxyModelPtr model;
- armarx::Mutex mutex;
+ std::mutex mutex;
};
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp
index 2860562610769b27a46b0173d284e35f05b6cee7..682a6e60ed5927229c8a81e9896035bfc273ad43 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.cpp
@@ -286,7 +286,7 @@ void StateTreeModel::generateGroupDocString(StatechartGroupPtr group, QString do
const CMakePackageFinder& StateTreeModel::getPackageFinder(const QString& packageName)
{
- ScopedLock lock(findersMutex);
+ std::unique_lock lock(findersMutex);
auto it = finders.find(packageName);
if (it == finders.end())
{
@@ -480,7 +480,7 @@ void StateTreeModel::generateBaseClasses(const StatechartGroupPtr& group)
std::map<QString, CMakePackageFinder>::const_iterator it;
{
- ScopedLock lock(findersMutex);
+ std::unique_lock lock(findersMutex);
it = finders.find(group->getPackageName());
diff --git a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.h b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.h
index 3066deb072fd882b3fcd9a979d2d6a9b403390c8..370b13bbd9b5c7868643b2c8ce67774a3909ca6b 100644
--- a/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.h
+++ b/source/ArmarXGui/gui-plugins/StatechartEditorPlugin/model/StateTreeModel.h
@@ -30,12 +30,12 @@
#include <ArmarXCore/observers/variant/VariantInfo.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <QMap>
#include <QProgressDialog>
#include <filesystem>
+#include <mutex>
namespace armarx
{
@@ -99,7 +99,7 @@ namespace armarx
Ice::CommunicatorPtr iceCommunicator;
StateTreeNodePtr rootNode;
VariantInfoPtr variantInfo;
- Mutex findersMutex;
+ std::mutex findersMutex;
std::map<QString, CMakePackageFinder> finders;
std::set<std::string> getVariantOfStatesWithNoCpp(const StatechartGroupPtr& group);
};
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/IceStateConverter.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/IceStateConverter.cpp
index a86870e70f915ca7c0ed08d42b8f44c2188ee4c1..2a9e0c18a9c1e53004dee8bb3a5eb890d37ae5a7 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/IceStateConverter.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/IceStateConverter.cpp
@@ -38,6 +38,8 @@
#include "model/stateinstance/LocalState.h"
#include "model/stateinstance/StateInstance.h"
+#include <cmath>
+
armarx::IceStateConverter::IceStateConverter(armarx::statechartmodel::StatePtr state)
{
topState.reset(new statechartmodel::LocalState(state, state->getStateName()));
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
index e72d92bfb5d2be9c752e9287f38b0ec1443ef163..b7cb52ad012820f5fd61deaa367e888a04c8f3e3 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.cpp
@@ -75,7 +75,7 @@ namespace armarx
{
SubscriptionMap tempList;
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
tempList.swap(subscriptionQueue);
}
ARMARX_DEBUG << tempList.size() << " new subscriptions received";
@@ -86,7 +86,7 @@ namespace armarx
StateItem* stateItem = elem.second.second;
StateListenerDataMap::iterator it;
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
it = stateMap.find(iceState->globalStateIdentifier);
if (it != stateMap.end() && state && it->second.states.count(state) > 0)
{
@@ -116,7 +116,7 @@ namespace armarx
data.stateItems.insert(stateItem);
}
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
stateMap[iceState->globalStateIdentifier] = data;
// ARMARX_IMPORTANT << "subscribed to " << iceState->globalStateIdentifier;
}
@@ -130,7 +130,7 @@ namespace armarx
bool StateWatcher::subscribeToState(StateIceBasePtr iceState, statechartmodel::StatePtr state)
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
if (!iceState)
{
ARMARX_WARNING << "Ice State NULL";
@@ -148,7 +148,7 @@ namespace armarx
bool StateWatcher::unsubscribeState(StateItem* state)
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
for (auto& pair : stateMap)
{
for (auto item : pair.second.stateItems)
@@ -165,7 +165,7 @@ namespace armarx
bool StateWatcher::subscribeToState(StateIceBasePtr iceState, StateItem* state)
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
if (!iceState)
{
ARMARX_WARNING << "Ice State NULL";
@@ -182,7 +182,7 @@ namespace armarx
VariantPtr StateWatcher::getStateParameter(statechartmodel::StatePtr state, const std::string paramMapType) const
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
try
{
for (const auto& stateData : stateMap)
@@ -209,7 +209,7 @@ namespace armarx
StateParameterMap StateWatcher::getStateParameterMap(statechartmodel::StatePtr state, const std::string paramMapType) const
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
// try
{
for (const auto& stateData : stateMap)
@@ -244,7 +244,7 @@ namespace armarx
void StateWatcher::clear()
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
stateMap.clear();
}
@@ -276,7 +276,7 @@ namespace armarx
std::string stateIdentifier = event.parentName;
if (event.functionName != Profiler::Profiler::GetEventName(Profiler::Profiler::eFunctionStart))
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
auto it = stateMap.find(stateIdentifier);
if (it == stateMap.end())
{
@@ -308,7 +308,7 @@ namespace armarx
{
try
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
{
ARMARX_DEBUG << "Got event reported for active state changed: " << event.parentStateIdentifier;
@@ -430,21 +430,21 @@ namespace armarx
void StateWatcher::reportStatechartInputParameters(const ProfilerStatechartParameters& event, const Ice::Current&)
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
// ARMARX_INFO << "input update for " << event.stateIdentifier << " content: " << StateUtilFunctions::getDictionaryString(event.parameterMap);
stateMap[event.stateIdentifier].parameters["inputParameters"] = event.parameterMap;
}
void StateWatcher::reportStatechartLocalParameters(const ProfilerStatechartParameters& event, const Ice::Current&)
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
// ARMARX_INFO << "local update for " << event.stateIdentifier << " content: " << StateUtilFunctions::getDictionaryString(event.parameterMap);
stateMap[event.stateIdentifier].parameters["localParameters"] = event.parameterMap;
}
void StateWatcher::reportStatechartOutputParameters(const ProfilerStatechartParameters& event, const Ice::Current&)
{
- ScopedLock lock(mapMutex);
+ std::unique_lock lock(mapMutex);
// ARMARX_INFO << "output update for " << event.stateIdentifier << " content: " << StateUtilFunctions::getDictionaryString(event.parameterMap);
stateMap[event.stateIdentifier].parameters["outputParameters"] = event.parameterMap;
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
index 25cd2b9d9ba152e54d458def954a8995de52442e..0b4bfe742ccfed9f08413f7bb0f17523f6dd999e 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StateWatcher.h
@@ -25,10 +25,11 @@
#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/model/State.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/interface/observers/ProfilerObserverInterface.h>
#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/view/StateItem.h>
+#include <mutex>
+
namespace armarx
{
@@ -70,7 +71,7 @@ namespace armarx
void subscriptionFunction();
StateListenerDataMap stateMap;
- mutable armarx::Mutex mapMutex;
+ mutable std::mutex mapMutex;
ConditionHandlerInterfacePrx conditionHandler;
ProfilerObserverInterfacePrx profilerObserver;
using SubscriptionMap = std::vector<std::pair<StateIceBasePtr, std::pair<statechartmodel::StatePtr, StateItem*>> >;
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp
index bbcba37c53287a6487594eb8e9233e32b83e7548..09a94e3562bb8bbb425db3466d4a8c1d94040dd4 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.cpp
@@ -81,7 +81,7 @@ namespace armarx
StatechartViewerController::~StatechartViewerController()
{
shutdown = true;
- ScopedRecursiveLock lock(mutex);// wait for network functions to finish
+ std::unique_lock lock(mutex);// wait for network functions to finish
}
@@ -156,7 +156,7 @@ namespace armarx
void StatechartViewerController::updateStatechartView(StateIceBasePtr stateptr, IceStateConverterPtr converter)
{
- ScopedRecursiveLock lock(mutex);
+ std::unique_lock lock(mutex);
auto start = IceUtil::Time::now();
converter->convert(stateptr);
ARMARX_DEBUG << deactivateSpam(3) << "converting instance took : " << (IceUtil::Time::now() - start).toMilliSecondsDouble() << " ms";
@@ -170,7 +170,7 @@ namespace armarx
}
QMap<QPointer<StatechartView>, RemoteStateData> tempConverters;
{
- ScopedRecursiveLock lock(mutex);
+ std::unique_lock lock(mutex);
tempConverters = converters;
}
for (RemoteStateData& stateData : tempConverters)
@@ -437,7 +437,7 @@ namespace armarx
if (result == triggerTransition)
{
- ScopedRecursiveLock lock(mutex);
+ std::unique_lock lock(mutex);
for (RemoteStateData& data : converters)
{
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h
index 8d30749890671e0f360e68f09443a47cb068fea7..ac03ff99447034706501ca8cb778af12c365a250 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/StatechartViewerController.h
@@ -34,6 +34,8 @@
#include <ArmarXGui/gui-plugins/StatechartViewerPlugin/controller/ActiveStateFollower.h>
+#include <mutex>
+
namespace Ui
{
class StatechartViewer;
@@ -117,7 +119,7 @@ namespace armarx
QPointer<QToolBar> customToolbar;
QAction* autoFollowAction;
QAction* centerActiveStateAction;
- RecursiveMutex mutex;
+ std::recursive_mutex mutex;
bool shutdown = false;
// ArmarXWidgetController interface
public:
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/Layout.h b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/Layout.h
index 2031f34e85843e9d36fd53d907fde36a2543409a..40100e75285d5991a090471defb69d825fab3fcb 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/Layout.h
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/Layout.h
@@ -23,7 +23,6 @@
*/
#pragma once
-#include <ArmarXCore/core/system/Synchronization.h>
#include "graphviz/gvc.h"
#ifdef WITH_CGRAPH
# include <graphviz/cgraph.h>
@@ -60,7 +59,7 @@ namespace armarx
/**
* @brief mutex Mutex to lock graph
*/
- RecursiveMutex mutex;
+ std::recursive_mutex mutex;
};
using LockableGraphPtr = std::shared_ptr<LockableGraph>;
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutWorker.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutWorker.cpp
index 4c622068e158a8804fe6adc8149cfa1497921675..2b8b5b8964bf0e70487c0dde4cd25b4ae22e5d5d 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutWorker.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/LayoutWorker.cpp
@@ -47,7 +47,7 @@ armarx::LayoutWorker::LayoutWorker(size_t workerId, QString name, armarx::GvcPtr
name(name)
{
m_graph = std::make_shared<LockableGraph>();
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
m_graph->graph = agopen(name.toLatin1().data(), Agdirected, NULL);
ARMARX_INFO_S << m_graph->graph << " Creating Graph with name " << name.toLatin1().data();
@@ -97,7 +97,7 @@ armarx::LayoutWorker::LayoutWorker(size_t workerId, QString name, armarx::GvcPtr
armarx::LayoutWorker::~LayoutWorker()
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
agclose(m_graph->graph);
}
@@ -137,7 +137,7 @@ void armarx::LayoutWorker::isConnected(size_t workerId)
void armarx::LayoutWorker::layoutWithAlgo(std::string algorithm)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
// ARMARX_INFO_S << "Layouting with graph ptr " << m_graph->graph;
// int nodeCard = agnnodes(m_graph->graph);
// ARMARX_INFO_S << "State " /*<< m_graph->graph->name*/ << " with " << nodeCard << " substates is to be layouted";
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/StateModelLayoutMediator.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/StateModelLayoutMediator.cpp
index 635a8d268bfc908af991d2672333d84c2baa92d4..7e07807e363a1c37e6c3ab45cc0c92845748ea7f 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/StateModelLayoutMediator.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/layout/StateModelLayoutMediator.cpp
@@ -311,7 +311,7 @@ void armarx::StateModelLayoutMediator::stateDeleted()
bool armarx::StateModelLayoutMediator::updateInitialTransition(armarx::statechartmodel::TransitionCPtr transition, armarx::statechartmodel::SignalType signalType)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
if (transition->sourceState)
{
return false;
@@ -429,7 +429,7 @@ QPointF armarx::StateModelLayoutMediator::convertPositionToGraphViz(QPointF stat
void armarx::StateModelLayoutMediator::addNode(armarx::statechartmodel::StateInstancePtr substate)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
//Sometimes the eAdded signal for a node reaches the mediator after an eChanged signal. Test whether
//there already is a node for the given substate and only add one if there isn't one already.
@@ -461,7 +461,7 @@ void armarx::StateModelLayoutMediator::addNode(armarx::statechartmodel::StateIns
void armarx::StateModelLayoutMediator::removeNode(armarx::statechartmodel::StateInstancePtr substate)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
NodePtr node = getNode(substate);
if (!substate || !substate->getStateClass())
@@ -480,7 +480,7 @@ void armarx::StateModelLayoutMediator::removeNode(armarx::statechartmodel::State
void armarx::StateModelLayoutMediator::setNodeAttribute(armarx::statechartmodel::StateInstancePtr substate,
const std::string& attributeName, const std::string& attributeValue)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
NodePtr node = getNode(substate);
@@ -495,7 +495,7 @@ void armarx::StateModelLayoutMediator::setNodeAttribute(armarx::statechartmodel:
std::string armarx::StateModelLayoutMediator::getNodeAttribute(armarx::statechartmodel::StateInstancePtr substate, const std::string& attributeName)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
NodePtr node = getNode(substate);
@@ -509,7 +509,7 @@ std::string armarx::StateModelLayoutMediator::getNodeAttribute(armarx::statechar
}
bool armarx::StateModelLayoutMediator::hasNodeAttribute(armarx::statechartmodel::StateInstancePtr substate, const std::string& attributeName)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
NodePtr node = getNode(substate);
@@ -573,7 +573,7 @@ armarx::NodePtr armarx::StateModelLayoutMediator::getNode(armarx::statechartmode
void armarx::StateModelLayoutMediator::addEdge(armarx::statechartmodel::TransitionCPtr transition)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
if (!transitionRepresentable(transition))
{
@@ -601,7 +601,7 @@ void armarx::StateModelLayoutMediator::addEdge(armarx::statechartmodel::Transiti
void armarx::StateModelLayoutMediator::removeEdge(armarx::statechartmodel::TransitionCPtr transition)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
EdgePtr edge = getEdge(transition);
@@ -617,7 +617,7 @@ void armarx::StateModelLayoutMediator::removeEdge(armarx::statechartmodel::Trans
void armarx::StateModelLayoutMediator::setEdgeAttribute(armarx::statechartmodel::TransitionCPtr transition, std::string attributeName, std::string attributeValue)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
EdgePtr edge = getEdge(transition);
@@ -631,7 +631,7 @@ void armarx::StateModelLayoutMediator::setEdgeAttribute(armarx::statechartmodel:
std::string armarx::StateModelLayoutMediator::getEdgeAttribute(armarx::statechartmodel::TransitionCPtr transition, std::string attributeName)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
EdgePtr edge = getEdge(transition);
@@ -646,7 +646,7 @@ std::string armarx::StateModelLayoutMediator::getEdgeAttribute(armarx::statechar
bool armarx::StateModelLayoutMediator::hasEdgeAttribute(armarx::statechartmodel::TransitionCPtr transition, std::string attributeName)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
EdgePtr edge = getEdge(transition);
@@ -812,7 +812,7 @@ void armarx::StateModelLayoutMediator::updateNodeName(armarx::statechartmodel::S
if (newName != oldName)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
NodePtr node = getNode(oldName);
setGraphAttribute(node, "label", newName);
@@ -838,7 +838,7 @@ void armarx::StateModelLayoutMediator::updateEdgeLabel(armarx::statechartmodel::
void armarx::StateModelLayoutMediator::updateEdgeTargetAndSource(armarx::statechartmodel::TransitionCPtr transition)
{
- ScopedRecursiveLock lock(m_graph->mutex);
+ std::unique_lock lock(m_graph->mutex);
if (transitionRepresentable(transition))
{
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/State.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/State.cpp
index 90da915f30b7e811c45e6ffc161134984241327a..d718f49c4aa258d1a65ab244815c4d654d0c8bbe 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/State.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/State.cpp
@@ -25,10 +25,11 @@
#include "stateinstance/RemoteState.h"
#include "stateinstance/LocalState.h"
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h>
+#include "stateinstance/DynamicRemoteState.h"
#include <IceUtil/UUID.h>
-#include "stateinstance/DynamicRemoteState.h"
+#include <cmath>
namespace armarx::statechartmodel
{
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/stateinstance/StateInstance.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/stateinstance/StateInstance.cpp
index 78a04bc8523f6bfc2df1bca80be14322a38d26e0..1e1702cb666bb408928531651460859f467e2252 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/stateinstance/StateInstance.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/model/stateinstance/StateInstance.cpp
@@ -27,6 +27,8 @@ using namespace statechartmodel;
#include "../State.h"
+#include <cmath>
+
const QSizeF StateInstance::StateDefaultSize = QSizeF(800, 600);
StateInstance::StateInstance(const QString& instanceName, StatePtr parentState) :
diff --git a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/view/TransitionItem.cpp b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/view/TransitionItem.cpp
index 2a9cf3aa9c6e403ebfde4a0b36ead50d5c4e1ae1..e8fc6d7a40cf82fdee1039bbdf1a9bf29ccdc39b 100644
--- a/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/view/TransitionItem.cpp
+++ b/source/ArmarXGui/gui-plugins/StatechartViewerPlugin/view/TransitionItem.cpp
@@ -39,9 +39,11 @@
#include <QGraphicsView>
#include <QPropertyAnimation>
#include <QStyleOptionGraphicsItem>
-#include <memory>
#include "SplinePath.h"
+#include <memory>
+#include <cmath>
+
#define INITIAL_CIRCLE_RADIUS 10
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.cpp
index a23e661df756e82ce0888e1c322e1d4af45ef4a5..1c05ad96c83a404727a88a5f04d0ed39fcb41835 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.cpp
@@ -137,7 +137,7 @@ namespace armarx
}
- Mutex& ArmarXManagerItem::getMutex()
+ std::mutex& ArmarXManagerItem::getMutex()
{
return mutex;
}
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.h
index 906ba6f34428e8c7fcacce9c07fc1374cec462c3..1e2518051ce76365a6d1adf005887f80a774f48b 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerItem.h
@@ -30,12 +30,12 @@
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/ManagedIceObjectRegistryInterface.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <QObject>
-#include <QMutex>
#include <QStandardItem>
+#include <mutex>
+
namespace armarx
{
class ArmarXManagerItem : public QStandardItem
@@ -83,11 +83,11 @@ namespace armarx
*
* @return Access mutex
*/
- Mutex& getMutex();
+ std::mutex& getMutex();
private:
ManagerData data;
- Mutex mutex;
+ std::mutex mutex;
};
}
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.cpp
index 96f91b0405fb860c29be0de914912b9ef54ce25e..d067affccc184adf49a432f7e3ed0c0116ba0e22 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.cpp
@@ -617,7 +617,7 @@ namespace armarx
return QVariant();
}
- Mutex& ArmarXManagerModel::getMutex()
+ std::mutex& ArmarXManagerModel::getMutex()
{
return mutex;
}
@@ -630,7 +630,7 @@ namespace armarx
if (managerItem)
{
- // ScopedLock lock(getMutex());
+ // std::unique_lock lock(getMutex());
managerItem->setName(item->text());
}
@@ -659,7 +659,7 @@ namespace armarx
void ArmarXManagerModel::populate(const QStringList& managerList)
{
CHECK_QT_THREAD(this);
- // ScopedLock lock(getMutex());
+ // std::unique_lock lock(getMutex());
this->clear();
@@ -675,7 +675,7 @@ namespace armarx
CHECK_QT_THREAD(this);
ArmarXManagerModel* modelCopy = new ArmarXManagerModel();
- ScopedLock lock(getMutex());
+ std::unique_lock lock(getMutex());
for (int i = 0; i < rowCount(); i++)
{
@@ -691,8 +691,8 @@ namespace armarx
void ArmarXManagerModel::copyFrom(ArmarXManagerModel* source)
{
CHECK_QT_THREAD(this);
- // ScopedLock lock(getMutex());
- // ScopedLock lockSource(source->getMutex());
+ // std::unique_lock lock(getMutex());
+ // std::unique_lock lockSource(source->getMutex());
this->clear();
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.h
index d10caf77f55c1ab39cb917874d635320cf3472ce..b4b5447340854be02aa7fb6871369dfe56d070cc 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ArmarXManagerModel.h
@@ -37,7 +37,8 @@
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/ManagedIceObjectRegistryInterface.h>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <mutex>
namespace armarx
{
@@ -153,7 +154,7 @@ namespace armarx
/**
* Returns the access mutex
*/
- Mutex& getMutex();
+ std::mutex& getMutex();
void setIceManager(IceManagerPtr iceManager);
IceManagerPtr getIceManager() const;
@@ -214,7 +215,7 @@ namespace armarx
/**
* Modification access mutex
*/
- Mutex mutex;
+ std::mutex mutex;
IceManagerPtr iceManager;
std::map<std::string, DependencyMap> dependenciesMap;
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.cpp
index 4ef5c1618d911435def92e0835ddd5c26d2736be..f1b7ad48be8385cc1fea3202735a25c952fe9050 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.cpp
@@ -121,7 +121,7 @@ namespace armarx
{
QString lastSelectionText = ui->gridNodeSelector->currentText();
{
- ScopedLock guard(gridNodeListMutex);
+ std::unique_lock guard(gridNodeListMutex);
gridNodeList = nodeSeq;
QStringList nodeNames;
@@ -143,7 +143,7 @@ namespace armarx
void IceGridViewer::gridNodeListAdd(const IceGrid::NodeDynamicInfo& node)
{
- ScopedLock guard(gridNodeListMutex);
+ std::unique_lock guard(gridNodeListMutex);
QStringList currentEntries = selectorModel->stringList();
currentEntries.append(QString::fromStdString(node.info.name));
gridNodeList.push_back(node);
@@ -155,7 +155,7 @@ namespace armarx
{
QString lastSelectionText = ui->gridNodeSelector->currentText();
{
- ScopedLock guard(gridNodeListMutex);
+ std::unique_lock guard(gridNodeListMutex);
QStringList currentEntries = selectorModel->stringList();
currentEntries.removeOne(node);
@@ -180,7 +180,7 @@ namespace armarx
void IceGridViewer::updateServerInfo(const std::string& nodeName, const IceGrid::ServerDynamicInfo& serverUpdateInfo)
{
{
- ScopedLock guard(gridNodeListMutex);
+ std::unique_lock guard(gridNodeListMutex);
IceGrid::NodeDynamicInfoSeq::iterator nodeEntry =
std::find_if(gridNodeList.begin(), gridNodeList.end(), [nodeName](IceGrid::NodeDynamicInfo nodeInfo)
{
@@ -222,7 +222,7 @@ namespace armarx
void IceGridViewer::updateAdapterInfo(const std::string& nodeName, const IceGrid::AdapterDynamicInfo& adapterUpdateInfo)
{
{
- ScopedLock guard(gridNodeListMutex);
+ std::unique_lock guard(gridNodeListMutex);
IceGrid::NodeDynamicInfoSeq::iterator nodeEntry =
std::find_if(gridNodeList.begin(), gridNodeList.end(), [nodeName](IceGrid::NodeDynamicInfo nodeInfo)
{
@@ -274,7 +274,7 @@ namespace armarx
return;
}
- ScopedLock guard(gridNodeListMutex);
+ std::unique_lock guard(gridNodeListMutex);
nodeInfoModel->setData(gridNodeList[index].info);
serverInfoModel->setData(gridNodeList[index].servers);
adapterInfoModel->setData(gridNodeList[index].adapters);
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.h
index d5125becd03cbf26efc031355f72acd22834addb..13eb8ddd1f6a3ce7fdd8cc1a69d6a02c8b6f80cc 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/IceGridViewer.h
@@ -23,13 +23,14 @@
#pragma once
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <QWidget>
#include <QStringListModel>
#include <IceGrid/Admin.h>
+#include <mutex>
+
namespace Ui
{
class IceGridViewer;
@@ -107,7 +108,7 @@ namespace armarx
void serverInfoChanged(IceGrid::ServerDynamicInfo serverInfo);
private:
- mutable Mutex gridNodeListMutex;
+ mutable std::mutex gridNodeListMutex;
Ui::IceGridViewer* ui;
const std::string ADAPTER_NAME;
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/AdapterInfoModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/AdapterInfoModel.h
index 50c93a9a807adc36b3d8474ef0f7dbdd5b1ceefc..776dc111cb5da70d3a3db3b95f364227dcfe46e2 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/AdapterInfoModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/AdapterInfoModel.h
@@ -24,7 +24,8 @@
#include <QAbstractTableModel>
#include <IceGrid/Admin.h>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <mutex>
class AdapterInfoModel :
public QAbstractTableModel
@@ -68,7 +69,7 @@ public:
if (role == Qt::DisplayRole)
{
- armarx::ScopedLock guard(adapterInfoMutex);
+ std::unique_lock guard(adapterInfoMutex);
switch (index.column())
{
@@ -126,7 +127,7 @@ public:
bool setData(IceGrid::AdapterDynamicInfoSeq newInfo)
{
- armarx::ScopedLock guard(adapterInfoMutex);
+ std::unique_lock guard(adapterInfoMutex);
beginResetModel();
adapterInfo = newInfo;
endResetModel();
@@ -136,6 +137,6 @@ public:
protected:
IceGrid::AdapterDynamicInfoSeq adapterInfo;
- mutable armarx::Mutex adapterInfoMutex;
+ mutable std::mutex adapterInfoMutex;
};
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.cpp
index 60af383b0d1286dce6b6bc6d23968b42a3afcf70..dbc871f0f2ddfd7d870952375da58baf84f11b6c 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.cpp
@@ -54,7 +54,7 @@ namespace armarx
{
const unsigned int& row = index.row();
const unsigned int& column = index.column();
- ScopedLock lock(gridNodeListsMutex);
+ std::unique_lock lock(gridNodeListsMutex);
if (row >= gridNodeItemsList.size())
{
@@ -117,7 +117,7 @@ namespace armarx
void IceGridModel::setData(const std::vector<std::string>& gridNodeItemsList)
{
beginResetModel();
- ScopedLock lock(gridNodeListsMutex);
+ std::unique_lock lock(gridNodeListsMutex);
this->gridNodeItemsList = gridNodeItemsList;
endResetModel();
emit dataChanged(index(0, 0), index(rowCount(), columnCount()));
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.h
index 3826576597f844793a66f002982f350ff189be70..355ca545e06f7c60e667778fd60b4355fa6fdee1 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/IceGridModel.h
@@ -25,7 +25,7 @@
#include <QAbstractItemModel>
#include <QStyledItemDelegate>
-#include <ArmarXCore/core/system/Synchronization.h>
+#include <mutex>
namespace armarx
{
@@ -53,7 +53,7 @@ namespace armarx
void run();
std::vector<std::string> gridNodeItemsList;
- mutable Mutex gridNodeListsMutex;
+ mutable std::mutex gridNodeListsMutex;
};
}
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/NodeInfoModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/NodeInfoModel.h
index e49ab663873c7e21c79a11e3e7390588f85a7e3e..7e9d00ed50d5eb8b6620123c647634fad36a4a7c 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/NodeInfoModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/NodeInfoModel.h
@@ -24,7 +24,8 @@
#include <QAbstractTableModel>
#include <IceGrid/Admin.h>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <mutex>
class NodeInfoModel :
public QAbstractTableModel
@@ -64,7 +65,7 @@ public:
if (role == Qt::DisplayRole)
{
- armarx::ScopedLock guard(nodeInfoMutex);
+ std::unique_lock guard(nodeInfoMutex);
switch (index.column())
{
@@ -167,7 +168,7 @@ public:
bool setData(IceGrid::NodeInfo newInfo)
{
- armarx::ScopedLock guard(nodeInfoMutex);
+ std::unique_lock guard(nodeInfoMutex);
beginResetModel();
nodeInfo = newInfo;
endResetModel();
@@ -177,6 +178,6 @@ public:
protected:
IceGrid::NodeInfo nodeInfo;
- mutable armarx::Mutex nodeInfoMutex;
+ mutable std::mutex nodeInfoMutex;
};
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/ServerInfoModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/ServerInfoModel.h
index 3adcfe7d06e441172c403058f66d1eacea75cfb6..e03d1b0921362b866313ce6b58979000a48bd5c8 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/ServerInfoModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/IceGridViewer/model/ServerInfoModel.h
@@ -24,10 +24,11 @@
#include <QAbstractTableModel>
#include <IceGrid/Admin.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <QBrush>
+#include <mutex>
+
class ServerInfoModel :
public QAbstractTableModel
@@ -79,7 +80,7 @@ public:
if (role == Qt::DisplayRole)
{
- armarx::ScopedLock guard(serverInfoMutex);
+ std::unique_lock guard(serverInfoMutex);
switch (index.column())
{
@@ -209,7 +210,7 @@ public:
bool setData(IceGrid::ServerDynamicInfoSeq newInfo)
{
- armarx::ScopedLock guard(serverInfoMutex);
+ std::unique_lock guard(serverInfoMutex);
beginResetModel();
serverInfo = newInfo;
endResetModel();
@@ -222,6 +223,6 @@ signals:
protected:
IceGrid::ServerDynamicInfoSeq serverInfo;
- mutable armarx::Mutex serverInfoMutex;
+ mutable std::mutex serverInfoMutex;
};
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.cpp
index d36765f207227f64b98be9601fc1f1567c4a1dca..736f9979cf6c919e4a13c9c54a83570e2d0e3cb3 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.cpp
@@ -232,7 +232,7 @@ namespace armarx
}
else
{
- ScopedLock lock(managerPrxMapMutex);
+ std::unique_lock lock(managerPrxMapMutex);
currentManagerPrxMap = monitoredManagerModel->getManagerProxyMap();
}
}
@@ -259,7 +259,7 @@ namespace armarx
{
CHECK_QT_THREAD(getWidget());
- ScopedLock lock(monitoredManagerModel->getMutex());
+ std::unique_lock lock(monitoredManagerModel->getMutex());
monitoredManagerModel->updateManagerDetails(managerData);
filterModel->invalidate();
@@ -339,13 +339,13 @@ namespace armarx
void SystemStateMonitorWidget::updateManagerObjectsState()
{
- // ScopedLock lock(monitoredManagerModel->getMutex());
+ // std::unique_lock lock(monitoredManagerModel->getMutex());
// StateUpdateMap stateMap;
ArmarXManagerItem::ManagerDataMap managerDataMap;
{
decltype(currentManagerPrxMap) proxies;
{
- ScopedLock lock(managerPrxMapMutex);
+ std::unique_lock lock(managerPrxMapMutex);
proxies = currentManagerPrxMap;
}
IceUtil::Time start = IceUtil::Time::now();
@@ -376,7 +376,7 @@ namespace armarx
this->monitoredManagerModel->copyFrom(
managerRepositoryDialog->getMonitoredManagersModel());
ui.monitoredManagersTree->expandToDepth(1);
- ScopedLock lock(managerPrxMapMutex);
+ std::unique_lock lock(managerPrxMapMutex);
currentManagerPrxMap = monitoredManagerModel->getManagerProxyMap();
}
@@ -460,7 +460,7 @@ namespace armarx
// QMetaObject::invokeMethod(this, "addArmarXManagers", Q_ARG(QStringList, managers));
addArmarXManagers(managers);
QMetaObject::invokeMethod(ui.monitoredManagersTree, "expandToDepth", Q_ARG(int, 0));
- ScopedLock lock(managerPrxMapMutex);
+ std::unique_lock lock(managerPrxMapMutex);
currentManagerPrxMap = monitoredManagerModel->getManagerProxyMap(managers);
}
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.h
index 78b2968d26fa1e4a380b6c783b188ec6d1d85647..386423e32a4ac682598bb82ecdaa88b2a2438f7e 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/SystemStateMonitorWidget.h
@@ -40,6 +40,8 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <mutex>
+
namespace Ui
{
class SystemStateMonitorWidget;
@@ -175,7 +177,7 @@ namespace armarx
*/
ArmarXManagerModel* managerRepositoryModel;
- Mutex managerPrxMapMutex;
+ std::mutex managerPrxMapMutex;
ManagerPrxMap currentManagerPrxMap;
QTimer filterExpansionTimer;
/**
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.cpp
index 48dd0305da463624739ac2ccaca29fcf3761edf9..81449fa22371d07ecfd1d273c7c49a57cdec37e8 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.cpp
@@ -50,7 +50,7 @@ namespace armarx
{
const unsigned int& row = index.row();
const unsigned int& column = index.column();
- ScopedLock lock(taskListsMutex);
+ std::unique_lock lock(taskListsMutex);
if (row >= runningTaskList.size())
{
@@ -161,7 +161,7 @@ namespace armarx
{
beginResetModel();
- ScopedLock lock(taskListsMutex);
+ std::unique_lock lock(taskListsMutex);
this->runningTaskList = runningTaskList;
endResetModel();
emit dataChanged(index(0, 0), index(rowCount(), columnCount()));
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.h
index 86347a1868f1cfbb3d1157be0e9c62155a8b062b..f734b4b62574d8936f50d2c8b7d7a787f138df58 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/RunningTaskModel.h
@@ -25,7 +25,8 @@
#include <QAbstractItemModel>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <mutex>
namespace armarx
{
@@ -54,7 +55,7 @@ namespace armarx
RunningTaskList runningTaskList;
- mutable Mutex taskListsMutex;
+ mutable std::mutex taskListsMutex;
};
}
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.cpp
index 68f4e38931857407cf2fbbac51d3f856b57d7ff3..b1ac02e1150a94dd18fc6b71c1a880402bc142ba 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.cpp
@@ -183,7 +183,7 @@ namespace armarx
return;
}
- ScopedRecursiveLock lock(proxyMutex);
+ std::unique_lock lock(proxyMutex);
threadManagerProxy = getProxy<ThreadListInterfacePrx>(selectedString.toStdString());
ARMARX_VERBOSE << "new proxy for ThreadViewerModel set: " << selectedString;
}
@@ -196,7 +196,7 @@ namespace armarx
void ThreadViewer::runThreadManagerUpdate()
{
- ScopedRecursiveLock lock(proxyMutex);
+ std::unique_lock lock(proxyMutex);
if (!threadManagerProxy)
{
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.h
index 9253967243d881c12735783d2dfcf9bcb96a1355..5412e5db6687cd46725e3411a56d7bc5c2fc5ce5 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewer.h
@@ -26,10 +26,11 @@
#include <ArmarXCore/core/services/tasks/ThreadList.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <QWidget>
+#include <mutex>
+
namespace Ui
{
class ThreadViewer;
@@ -110,7 +111,7 @@ namespace armarx
private:
void runThreadManagerUpdate();
- mutable RecursiveMutex proxyMutex;
+ mutable std::recursive_mutex proxyMutex;
ThreadListInterfacePrx threadManagerProxy;
PeriodicTask<ThreadViewer>::pointer_type periodicTask;
RunningTask<ThreadViewer>::pointer_type managerUpdateTask;
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.cpp b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.cpp
index b62e540f4497902a0f1e93d5bdfad68b5c9d49cb..6c4a8f99ed69fe16308f875a5228d2f46e58ac7f 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.cpp
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.cpp
@@ -50,7 +50,7 @@ namespace armarx
{
const unsigned int& row = index.row();
const unsigned int& column = index.column();
- ScopedLock lock(taskListsMutex);
+ std::unique_lock lock(taskListsMutex);
if (row >= periodicTaskList.size())
{
@@ -176,7 +176,7 @@ namespace armarx
{
beginResetModel();
- ScopedLock lock(taskListsMutex);
+ std::unique_lock lock(taskListsMutex);
this->periodicTaskList = periodicTaskList;
endResetModel();
emit dataChanged(index(0, 0), index(rowCount(), columnCount()));
diff --git a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.h b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.h
index 1882a42866ffb905cfd7aaebf6ffd1d35a76cd77..db5577735729a10584e529d0d30026d70aca6495 100644
--- a/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.h
+++ b/source/ArmarXGui/gui-plugins/SystemStateMonitorPlugin/ThreadViewer/ThreadViewerModel.h
@@ -25,7 +25,8 @@
#include <QAbstractItemModel>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <mutex>
namespace armarx
{
@@ -53,7 +54,7 @@ namespace armarx
void run();
PeriodicTaskList periodicTaskList;
- mutable Mutex taskListsMutex;
+ mutable std::mutex taskListsMutex;
};
}
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h b/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h
index 8ffc9ab519b5092defb592321521b2fc17a4334a..a7f0c1abc507f66b6a83a3e9723c6e8f6bc52b50 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h
@@ -29,7 +29,7 @@
#include <ArmarXCore/core/exceptions/Exception.h>
#include <ArmarXCore/core/util/TemplateMetaProgramming.h>
-#include <boost/type_traits/is_base_of.hpp>
+#include <type_traits>
namespace armarx
{
@@ -57,7 +57,8 @@ namespace armarx
template < typename ArmarXWidgetType>
typename std::enable_if < !HasGetWidgetName<ArmarXWidgetType>::value >::type addWidget()
{
- BOOST_STATIC_ASSERT_MSG((boost::is_base_of<ArmarXWidgetController, ArmarXWidgetType>::value), "The template parameter of addWidget, must be a class that derives from ArmarXWidget");
+ static_assert(std::is_base_of_v<ArmarXWidgetController, ArmarXWidgetType>,
+ "The template parameter of addWidget, must be a class that derives from ArmarXWidget");
try
{
@@ -96,7 +97,8 @@ namespace armarx
template <typename ArmarXWidgetType>
typename std::enable_if<HasGetWidgetName<ArmarXWidgetType>::value>::type addWidget()
{
- BOOST_STATIC_ASSERT_MSG((boost::is_base_of<ArmarXWidgetController, ArmarXWidgetType>::value), "The template parameter of addWidget, must be a class that derives from ArmarXWidget");
+ static_assert(std::is_base_of_v<ArmarXWidgetController, ArmarXWidgetType>,
+ "The template parameter of addWidget, must be a class that derives from ArmarXWidget");
try
{
@@ -107,7 +109,7 @@ namespace armarx
+ "' already exists in a loaded plugin!").toStdString());
}
- if (boost::is_base_of<ArmarXComponentWidgetController, ArmarXWidgetType>::value)
+ if (std::is_base_of_v<ArmarXComponentWidgetController, ArmarXWidgetType>)
{
ArmarXWidgetInfoPtr widgetInfo(new ArmarXWidgetInfo(ArmarXComponentWidgetController::createInstance<ArmarXWidgetType>,
ArmarXWidgetType::GetWidgetIcon(),
@@ -127,30 +129,6 @@ namespace armarx
ARMARX_ERROR_S << "Could not add widget!\n" << GetHandledExceptionString();
}
}
- // template<typename ArmarXWidgetType>
- // typename boost::enable_if<boost::is_base_of<ArmarXComponentWidgetController, ArmarXWidgetType>, void >::type
- // addWidget(const QString & widgetName)
- // {
- // addWidget<ArmarXWidgetType,ArmarXComponentWidgetController>(widgetName);
- // }
-
- // template<typename ArmarXWidgetType>
- // typename boost::disable_if<boost::is_base_of<ArmarXComponentWidgetController, ArmarXWidgetType>, void >::type
- // addWidget(const QString & widgetName)
- // {
- // addWidget<ArmarXWidgetType,ArmarXWidgetController>(widgetName);
- // }
-
- // template<typename ArmarXWidgetType, class BaseType>
- // void
- // addWidget(const QString & widgetName)
- // {
- // if(__availableWidgets.find(widgetName) != __availableWidgets.end())
- // throw LocalException(QString("A widget with the name '"
- // + widgetName
- // +"' already exists in a loaded plugin!").toStdString());
- // __availableWidgets[widgetName] = BaseType::template createInstance< ArmarXWidgetType >;
- // }
WidgetCreatorMap getProvidedWidgets() override
{
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.cpp b/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.cpp
index 8d3d6ed57e3d6138fa64d67759c27ba0f6ee7ecb..1c36823b8fa30ff91913674c7b6b65c048fcd431 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.cpp
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.cpp
@@ -115,15 +115,13 @@ namespace armarx
}
- void ArmarXWidgetController::setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D)
+ void ArmarXWidgetController::setMutex3D(RecursiveMutexPtr const& mutex3D)
{
- //ARMARX_INFO << "Widget controller " << getInstanceName() << ": set mutex " << mutex3D.get();
this->mutex3D = mutex3D;
}
void ArmarXWidgetController::configAccepted()
{
- // ARMARX_VERBOSE << "config was accepted";
configured();
emit configAccepted(this);
}
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h b/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h
index 83fe97042ec1d8dfba27cca8df98dc5f0b6b10b3..3c0dd8064ff0ab41a7da1acc5e3bf25f8211456c 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h
@@ -33,11 +33,11 @@
// Armarx includes
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/Component.h>
-#include <ostream>
#include "QtUtil.h"
-#include <boost/shared_ptr.hpp>
-#include <boost/thread/recursive_mutex.hpp>
+#include <ostream>
+#include <memory>
+#include <mutex>
class SoNode;
@@ -266,11 +266,17 @@ namespace armarx
*/
QPointer<TipDialog> getTipDialog() const;
void setTipDialog(QPointer<TipDialog> tipDialog);
+
+ // This is all total madness. Why do we put mutexes and locks into shared pointers?
+ using RecursiveMutex = std::recursive_mutex;
+ using RecursiveMutexPtr = std::shared_ptr<RecursiveMutex>;
+ using RecursiveMutexLock = std::unique_lock<RecursiveMutex>;
+ using RecursiveMutexLockPtr = std::shared_ptr<RecursiveMutexLock>;
/*!
* \brief This mutex is used to protect 3d scene updates. Usually called by the ArmarXGui main window on creation of this controller.
* \param mutex3D
*/
- virtual void setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D);
+ virtual void setMutex3D(RecursiveMutexPtr const& mutex3D);
template <typename Class>
static ArmarXWidgetControllerPtr createInstance()
@@ -308,7 +314,7 @@ namespace armarx
QMainWindow* __appMainWindow;
QPointer<TipDialog> tipDialog;
protected:
- boost::shared_ptr<boost::recursive_mutex> mutex3D;
+ std::shared_ptr<std::recursive_mutex> mutex3D;
};
}
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp
index 776681f813cea256f42b057efd69063015f5e548..40b0d0d122f728e4c2965278a48dfc49f94299d9 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.cpp
@@ -63,7 +63,7 @@ namespace armarx
bool found = false;
QFileInfo info(pluginPath) ;
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
for (auto& elem : pluginData)
{
// ARMARX_INFO_S << info.lastModified().toString() << elem.pluginPath;
@@ -99,14 +99,14 @@ namespace armarx
bool PluginCache::cacheWidget(QString widgetName, ArmarXWidgetInfoPtr widgetCreator)
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
pluginData[""].widgets[widgetName] = widgetCreator;
return true;
}
ArmarXWidgetInfoPtr PluginCache::getWidgetCreator(const QString& widgetName)
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
for (const PluginData& data : pluginData)
{
WidgetCreatorMap::const_iterator it = data.widgets.find(widgetName);
@@ -132,7 +132,7 @@ namespace armarx
QStringList PluginCache::getAvailableWidgetNames() const
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
QStringList result;
for (const PluginData& data : pluginData)
{
@@ -147,7 +147,7 @@ namespace armarx
WidgetCreatorMap PluginCache::getAvailableWidgets() const
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
WidgetCreatorMap result;
for (const PluginData& data : pluginData)
{
@@ -212,7 +212,7 @@ namespace armarx
for (QString widgetName : widgetNames)
{
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
QString pluginPath;
for (PluginData& data : pluginData)
{
@@ -250,7 +250,7 @@ namespace armarx
void PluginCache::clearCacheFile()
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
ARMARX_INFO << "Clearing plugin cache";
s.clear();
}
@@ -269,7 +269,7 @@ namespace armarx
void PluginCache::removeWidgetFromCache(QString pluginPath, QString widgetName)
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
QMap<QString, QVariant> widgetMap = s.value("widgets").toMap();
widgetMap.remove(pluginPath + ":" + widgetName);
s.setValue("widgets", widgetMap);
@@ -287,7 +287,7 @@ namespace armarx
void PluginCache::removePluginFromCache(QString pluginPath)
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
ARMARX_INFO << "Removing plugin " << pluginPath << " from cache";
QMap<QString, QVariant> widgetMap = s.value("widgets").toMap();
QMap<QString, QVariant> newWidgetMap;
@@ -313,7 +313,7 @@ namespace armarx
void PluginCache::updateLastModifiedTimestamp(const QString& pluginPath)
{
QDateTime time = QFileInfo(pluginPath).lastModified();
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
QMap<QString, QVariant> widgetMap = s.value("widgets").toMap();
ARMARX_DEBUG_S << "Updating last modified timestamp of plugin " << pluginPath << " to " << time.toString();
auto& pluginDataElement = pluginData[pluginPath];
@@ -337,7 +337,7 @@ namespace armarx
auto widgets = loadPlugin(loader);
copyResourcesToCache();
ARMARX_INFO_S << "Writing plugin " << pluginPath << " to cache";
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
QMap<QString, QVariant> widgetMap = s.value("widgets").toMap();
QDateTime time = QFileInfo(pluginPath).lastModified();
for (auto& elem : widgets)
@@ -363,7 +363,7 @@ namespace armarx
QByteArray hash;
QMap<QString, QVariant> map;
{
- ScopedRecursiveLock lock(cacheMutex);
+ std::unique_lock lock(cacheMutex);
map = s.value("widgets").toMap();
}
for (auto key : map.keys())
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h
index 78e8f0bba9345abc898237f5f4f6c28559658267..e1440027840081f41270099d2c6c24dd7166df86 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/PluginCache.h
@@ -1,6 +1,5 @@
#pragma once
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXWidgetController.h>
#include <QDateTime>
@@ -9,6 +8,7 @@
#include <memory>
#include <future>
+#include <mutex>
class QProgressDialog;
@@ -63,7 +63,7 @@ namespace armarx
QMap<QString, PluginData> pluginData;
ArmarXManagerPtr manager;
QSettings s;
- mutable RecursiveMutex cacheMutex;
+ mutable std::recursive_mutex cacheMutex;
std::future<void> preloadFuture;
bool shutdown = false;
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.cpp b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.cpp
index 809b1094737b290eb5026436c90655f3bf817df7..791c68ec56e88911f4ba24e49fe9826405177dc3 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.cpp
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.cpp
@@ -35,27 +35,25 @@ namespace armarx
SoQtFullViewer::BuildFlag flag,
SoQtViewer::Type type)
: SoQtExaminerViewer(parent, name, embed, flag, type)
+ , mutex(std::make_shared<RecursiveMutex>())
{
- mutex.reset(new boost::recursive_mutex);
- //ARMARX_IMPORTANT_S << "** Coin viewer init mutex:" << mutex.get();
}
CoinViewer::~CoinViewer()
= default;
- void CoinViewer::setMutex(boost::shared_ptr<boost::recursive_mutex> m)
+ void CoinViewer::setMutex(RecursiveMutexPtr const& m)
{
- //ARMARX_IMPORTANT_S << "set coinviewer mutex3d:" << m.get();
mutex = m;
}
- ScopedRecursiveLockPtr CoinViewer::getScopedLock()
+ auto CoinViewer::getScopedLock() -> RecursiveMutexLockPtr
{
- ScopedRecursiveLockPtr l;
+ RecursiveMutexLockPtr l;
if (mutex)
{
- l.reset(new ScopedRecursiveLock(*mutex));
+ l.reset(new RecursiveMutexLock(*mutex));
}
return l;
@@ -65,7 +63,7 @@ namespace armarx
{
// require lock
clock_t start = clock();
- ScopedRecursiveLockPtr l = getScopedLock();
+ auto l = getScopedLock();
clock_t end = clock();
long timeMS = (long)(((float)(end - start) / (float)CLOCKS_PER_SEC) * 1000.0);
diff --git a/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.h b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.h
index 6e42d3db64df5f3535775b2da121aae8a1cfd7f6..2ab2ddc26ff15a56e2c876c7788fd6d219954d86 100644
--- a/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.h
+++ b/source/ArmarXGui/libraries/ArmarXGuiBase/widgets/CoinViewer.h
@@ -24,8 +24,9 @@
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
-#include <boost/thread/recursive_mutex.hpp>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <memory>
+#include <mutex>
// project
namespace armarx
@@ -46,16 +47,22 @@ namespace armarx
SoQtViewer::Type type = BROWSER);
~CoinViewer() override;
+ // This is all total madness. Why do we put mutexes and locks into shared pointers?
+ using RecursiveMutex = std::recursive_mutex;
+ using RecursiveMutexPtr = std::shared_ptr<RecursiveMutex>;
+ using RecursiveMutexLock = std::unique_lock<RecursiveMutex>;
+ using RecursiveMutexLockPtr = std::shared_ptr<RecursiveMutexLock>;
+
/*!
* If set, the drawing is protected by this mutex. This overwrites the default mutex.
*/
- void setMutex(boost::shared_ptr<boost::recursive_mutex> m);
+ void setMutex(RecursiveMutexPtr const& m);
/*!
* \return This lock allows to safely access the viewer's scene graph.
*/
- ScopedRecursiveLockPtr getScopedLock();
+ RecursiveMutexLockPtr getScopedLock();
protected:
@@ -64,9 +71,9 @@ namespace armarx
*/
void actualRedraw(void) override;
- boost::shared_ptr<boost::recursive_mutex> mutex;
+ RecursiveMutexPtr mutex;
};
- using CoinViewerPtr = boost::shared_ptr<CoinViewer>;
+ using CoinViewerPtr = std::shared_ptr<CoinViewer>;
}
diff --git a/source/ArmarXGui/libraries/PlotterController/PlotterController.cpp b/source/ArmarXGui/libraries/PlotterController/PlotterController.cpp
index 55f7655937b0441f8b63d3188de346763f6d32ac..0c21ca6757c4b9b7e225b42d0cc1358b2120fa00 100644
--- a/source/ArmarXGui/libraries/PlotterController/PlotterController.cpp
+++ b/source/ArmarXGui/libraries/PlotterController/PlotterController.cpp
@@ -125,7 +125,7 @@ namespace armarx
{
return;
}
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
IceUtil::Time curTime = TimeUtil::GetTime();
// erase old markers
@@ -347,7 +347,7 @@ namespace armarx
return std::map<std::string, VariantPtr>();
}
std::map< std::string, DataFieldIdentifierBaseList > channelsSplittedByObserver;
- foreach (QString channel, channels)
+ for (QString const& channel : channels)
{
DataFieldIdentifierPtr identifier = new DataFieldIdentifier(channel.toStdString());
channelsSplittedByObserver[identifier->getObserverName()].push_back(identifier);
@@ -355,7 +355,7 @@ namespace armarx
}
std::map<std::string, VariantPtr> newData;
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
// first clear to old entries
auto now = TimeUtil::GetTime();
@@ -427,7 +427,7 @@ namespace armarx
// QDateTime time(QDateTime::currentDateTime());
TimedVariantBaseList variants = proxyMap[observerName]->getDataFields(it->second);
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
// # ARMARX_IMPORTANT << "data from observer: " << observerName;
for (unsigned int i = 0; i < variants.size(); ++i)
{
@@ -521,7 +521,7 @@ namespace armarx
{
samplingIntervalMs = pollingInterval;
}
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
clear();
auto now = TimeUtil::GetTime();
std::map<std::string, TimedVariantBaseList> histories;
@@ -721,7 +721,7 @@ namespace armarx
QStringList PlotterController::getSelectedDatafields() const
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return selectedDatafields;
}
@@ -732,7 +732,7 @@ namespace armarx
std::vector<std::string> keys;
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
for (int i = 0; i < selectedDatafields.size(); i++)
{
@@ -784,7 +784,7 @@ namespace armarx
void PlotterController::setSelectedDatafields(const QStringList& value, int samplingIntervalMs)
{
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (selectedDatafields == value)
{
return;
diff --git a/source/ArmarXGui/libraries/PlotterController/PlotterController.h b/source/ArmarXGui/libraries/PlotterController/PlotterController.h
index d3f4638611a60267c7e26adb00068c05086c46ad..f149b12da0f9fd8676ceb51679e10c5e6271fdb5 100644
--- a/source/ArmarXGui/libraries/PlotterController/PlotterController.h
+++ b/source/ArmarXGui/libraries/PlotterController/PlotterController.h
@@ -51,13 +51,14 @@
#include <ArmarXCore/util/json/JSONObject.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
#include <ArmarXCore/observers/variant/Variant.h>
#include <ArmarXCore/observers/exceptions/local/InvalidChannelException.h>
#include <ArmarXCore/observers/exceptions/local/InvalidDataFieldException.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <mutex>
+
namespace armarx
{
using QwtPlotMarkerPtr = QwtPlotMarker*;
@@ -158,7 +159,7 @@ namespace armarx
IceManagerPtr iceManager;
PeriodicTask<PlotterController>::pointer_type pollingTask;
QTimer timer;
- mutable Mutex dataMutex;
+ mutable std::mutex dataMutex;
GraphDataMap dataMap;
ProxyMap proxyMap;
std::map<std::string, QwtPlotCurve*> curves;