Add memory mutex

source/RobotAPI/components/armem/ArMemExampleMemory/ArMemExampleMemory.cpp

@@ -27,7 +27,6 @@
 #include <SimoxUtility/algorithm/string.h>
 
 #include <RobotAPI/libraries/armem/error/ArMemError.h>
-#include <RobotAPI/libraries/armem/component/IceMemory.h>
 #include <RobotAPI/libraries/armem/component/MemoryRemoteGui.h>
 
 
@@ -97,15 +96,15 @@ namespace armarx
 
     armem::data::AddSegmentsResult ArMemExampleMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
     {
-        armem::data::AddSegmentsResult result = iceMemory.addSegments(input, p.core.addOnUsage);
+        armem::data::AddSegmentsResult result = MemoryComponentPluginUser::addSegments(input, p.core.addOnUsage);
         tab.rebuild = true;
         return result;
     }
 
 
-    armem::data::CommitResult ArMemExampleMemory::commit(const armem::data::Commit& commitIce, const Ice::Current&)
+    armem::data::CommitResult ArMemExampleMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
     {
-        armem::data::CommitResult result = iceMemory.commit(commitIce);
+        armem::data::CommitResult result = MemoryComponentPluginUser::commit(commit);
         tab.rebuild = true;
         return result;
     }
@@ -124,7 +123,10 @@ namespace armarx
         using namespace armarx::RemoteGui::Client;
 
         armem::MemoryRemoteGui mrg;
-        tab.memoryGroup = mrg.makeGroupBox(memory);
+        {
+            std::scoped_lock lock(memoryMutex);
+            tab.memoryGroup = mrg.makeGroupBox(memory);
+        }
 
         VBoxLayout root = {tab.memoryGroup, VSpacer()};
         RemoteGui_createTab(getName(), root, &tab);

source/RobotAPI/libraries/armem/component/IceMemory.cpp

@@ -55,6 +55,7 @@ namespace armarx::armem
         return output;
     }
 
+
     armem::data::AddSegmentsResult IceMemory::addSegments(const armem::data::AddSegmentsInput& input, bool addCoreSegments)
     {
         ARMARX_CHECK_NOT_NULL(memory);

source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.cpp

@@ -21,13 +21,20 @@ namespace armarx::armem
     armem::data::AddSegmentsResult MemoryComponentPluginUser::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
     {
         bool addCoreSegmentOnUsage = false;
-        armem::data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegmentOnUsage);
+        return addSegments(input, addCoreSegmentOnUsage);
+    }
+
+    armem::data::AddSegmentsResult MemoryComponentPluginUser::addSegments(const armem::data::AddSegmentsInput& input, bool addCoreSegments)
+    {
+        std::scoped_lock lock(memoryMutex);
+        armem::data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
         return result;
     }
 
 
     armem::data::CommitResult MemoryComponentPluginUser::commit(const armem::data::Commit& commitIce, const Ice::Current&)
     {
+        std::scoped_lock lock(memoryMutex);
         return iceMemory.commit(commitIce);
     }
 
@@ -38,6 +45,8 @@ namespace armarx::armem
     armem::data::EntitySnapshotQueryResultList MemoryComponentPluginUser::getEntitySnapshots(
         const armem::data::EntitySnapshotQueryList& queries, const Ice::Current&)
     {
+        std::scoped_lock lock(memoryMutex);
+
         armem::data::EntitySnapshotQueryResultList results;
 
         for (const auto& query : queries)

source/RobotAPI/libraries/armem/component/MemoryComponentPlugin.h

 #pragma once
 
+#include <mutex>
+
 #include <ArmarXCore/core/Component.h>
 
 #include <RobotAPI/interface/armem/MemoryInterface.h>
@@ -37,16 +39,20 @@ namespace armarx::armem
 
 
         // WritingInterface interface
-        armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
-        armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+        virtual armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+        armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, bool addCoreSegments);
+
+        virtual armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current& = Ice::emptyCurrent) override;
 
 
         // ReadingInterface interface
-        armem::data::EntitySnapshotQueryResultList getEntitySnapshots(const armem::data::EntitySnapshotQueryList&, const Ice::Current&) override;
+        virtual armem::data::EntitySnapshotQueryResultList getEntitySnapshots(const armem::data::EntitySnapshotQueryList&, const Ice::Current& = Ice::emptyCurrent) override;
 
 
     public:
 
+        std::mutex memoryMutex;
+
         /// The actual memory.
         Memory memory;