mutex fix in kinematic unit gui

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

@@ -940,14 +940,15 @@ QString KinematicUnitWidgetController::translateStatus(ErrorStatus status)
 
 void KinematicUnitWidgetController::updateJointAnglesTable()
 {
-    if (!robotNodeSet)
-    {
-        return;
-    }
+
 
     float dirty_squaresum = 0;
 
     boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+    if (!robotNodeSet)
+    {
+        return;
+    }
     std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
 
 
@@ -983,13 +984,17 @@ void KinematicUnitWidgetController::updateJointAnglesTable()
 
 void KinematicUnitWidgetController::updateJointVelocitiesTable()
 {
-    if (!getWidget() || !robotNodeSet)
+    if (!getWidget())
     {
         return;
     }
 
     float dirty_squaresum = 0;
     boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+    if (!robotNodeSet)
+    {
+        return;
+    }
     std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
     QTableWidgetItem* newItem;
 
@@ -1019,12 +1024,13 @@ void KinematicUnitWidgetController::updateJointVelocitiesTable()
 
 void KinematicUnitWidgetController::updateJointTorquesTable()
 {
+
+
+    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     if (!getWidget() || !robotNodeSet)
     {
         return;
     }
-
-    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
     QTableWidgetItem* newItem;
     NameValueMap::const_iterator it;
@@ -1046,12 +1052,13 @@ void KinematicUnitWidgetController::updateJointTorquesTable()
 
 void KinematicUnitWidgetController::updateJointCurrentsTable()
 {
+
+
+    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     if (!getWidget() || !robotNodeSet)
     {
         return;
     }
-
-    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
     QTableWidgetItem* newItem;
     NameValueMap::const_iterator it;
@@ -1073,12 +1080,13 @@ void KinematicUnitWidgetController::updateJointCurrentsTable()
 
 void KinematicUnitWidgetController::updateJointMotorTemperaturesTable()
 {
+
+    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     if (!getWidget() || !robotNodeSet)
     {
         return;
     }
 
-    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
     QTableWidgetItem* newItem;
     NameValueMap::const_iterator it;
@@ -1198,13 +1206,14 @@ void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap& joi
 
 void KinematicUnitWidgetController::updateModel()
 {
+
+
+    //    ARMARX_INFO << "updateModel()" << flush;
+    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     if (!robotNodeSet)
     {
         return;
     }
-
-    //    ARMARX_INFO << "updateModel()" << flush;
-    boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
     std::vector< RobotNodePtr > rn2 = robotNodeSet->getAllRobotNodes();
 
     std::vector< RobotNodePtr > usedNodes;