Merge branch 'master' of https://gitlab.com/ArmarX/RobotAPI

source/RobotAPI/components/units/KinematicUnitObserver.cpp

@@ -267,9 +267,15 @@ void KinematicUnitObserver::reportJointStatuses(const NameStatusMap& jointStatus
 void KinematicUnitObserver::nameValueMapToDataFields(const std::string& channelName, const NameValueMap& nameValueMap, Ice::Long timestamp, bool aValueChanged)
 {
     //    ARMARX_INFO << deactivateSpam(10) << " timestamp is " << (IceUtil::Time::now() - IceUtil::Time::microSeconds(timestamp)).toMicroSecondsDouble() << " µs old";
-    if (aValueChanged || initializedChannels.count(channelName) == 0)
+    bool newChannel;
     {
+        ScopedLock lock(initializedChannelsMutex);
+        newChannel = initializedChannels.count(channelName) == 0;
         initializedChannels.insert(channelName);
+    }
+    if (aValueChanged || newChannel)
+    {
+
         boost::unordered_map< ::std::string, ::armarx::VariantBasePtr> map;
         if (timestamp < 0)
         {

source/RobotAPI/components/units/KinematicUnitObserver.h

@@ -140,6 +140,7 @@ namespace armarx
     protected:
         void nameValueMapToDataFields(const std::string& channelName, const NameValueMap& nameValueMap, Ice::Long timestamp, bool aValueChanged);
         std::set<std::string> initializedChannels;
+        Mutex initializedChannelsMutex;
     private:
         std::string robotNodeSetName;
     };