From 92844ef377d92078942034e025f0daa5c80bf89f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 12 May 2022 10:56:52 +0200
Subject: [PATCH] Fix race condition, add todo
---
.../armem_objects/server/instance/SegmentAdapter.cpp | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index be53cc7ff..340d94579 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -439,10 +439,15 @@ namespace armarx::armem::server::obj::instance
const Ice::Current&)
{
objpose::ObjectPosePredictionResultSeq results;
- for (const auto& request : requests)
+ // TODO(@phesch): Only fetch the required data in the lock, perform the predictions
+ // locally in this function's thread.
+ segment.doLocked([this,&requests,&results]()
{
- results.push_back(segment.predictObjectPose(request));
- }
+ for (const auto& request : requests)
+ {
+ results.push_back(segment.predictObjectPose(request));
+ }
+ });
return results;
}
--
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