From 9f43cd9a294b7f089437496c071b7ee66206ebbc Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 21 May 2020 10:06:10 +0200
Subject: [PATCH] Use std instead of boost
---
.../CyberGloveObserver/CyberGloveObserver.cpp | 4 +--
.../CyberGloveObserver/CyberGloveObserver.h | 5 ++-
.../RobotState/RobotStateComponent.cpp | 8 ++---
.../RobotState/RobotStateComponent.h | 7 ++--
.../components/units/ForceTorqueObserver.cpp | 6 ++--
.../components/units/ForceTorqueObserver.h | 4 ++-
.../components/units/GamepadUnitObserver.cpp | 2 +-
.../components/units/GamepadUnitObserver.h | 3 +-
.../units/GraspCandidateObserver.cpp | 34 +++++++++----------
.../components/units/GraspCandidateObserver.h | 6 ++--
.../components/units/HapticObserver.cpp | 4 +--
.../components/units/HapticObserver.h | 3 +-
.../units/InertialMeasurementUnitObserver.cpp | 2 +-
.../units/InertialMeasurementUnitObserver.h | 3 +-
.../units/KinematicUnitObserver.cpp | 2 +-
.../components/units/KinematicUnitObserver.h | 3 +-
.../units/LaserScannerUnitObserver.cpp | 2 +-
.../units/LaserScannerUnitObserver.h | 3 +-
.../components/units/MetaWearIMUObserver.cpp | 2 +-
.../components/units/MetaWearIMUObserver.h | 3 +-
.../units/OptoForceUnitObserver.cpp | 4 +--
.../components/units/OptoForceUnitObserver.h | 3 +-
.../OrientedTactileSensorUnitObserver.cpp | 2 +-
.../units/OrientedTactileSensorUnitObserver.h | 3 +-
.../core/remoterobot/RobotStateObserver.cpp | 6 ++--
.../core/remoterobot/RobotStateObserver.h | 2 +-
26 files changed, 70 insertions(+), 56 deletions(-)
diff --git a/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.cpp b/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.cpp
index a68eb49d8..96b0f863c 100644
--- a/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.cpp
+++ b/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.cpp
@@ -56,7 +56,7 @@ namespace armarx
void CyberGloveObserver::reportGloveValues(const CyberGloveValues& gloveValues, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
IceUtil::Time now = TimeUtil::GetTime();
@@ -107,7 +107,7 @@ namespace armarx
CyberGloveValues armarx::CyberGloveObserver::getLatestValues(const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return latestValues;
}
}
diff --git a/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.h b/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.h
index 8eb91e465..45eb2f52a 100644
--- a/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.h
+++ b/source/RobotAPI/components/CyberGloveObserver/CyberGloveObserver.h
@@ -23,13 +23,12 @@
#pragma once
-//#include <ArmarXCore/core/Component.h>
-//#include <RobotAPI/interface/units/CyberGloveInterface.h>
#include <RobotAPI/interface/units/CyberGloveObserverInterface.h>
#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <mutex>
namespace armarx
{
@@ -103,7 +102,7 @@ namespace armarx
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
CyberGloveValues latestValues;
IceUtil::Time lastUpdate;
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index e3c8d00b9..53fb866aa 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -323,7 +323,7 @@ namespace armarx
}
{
- boost::unique_lock<SharedMutex> lock(jointHistoryMutex);
+ std::unique_lock lock(jointHistoryMutex);
jointHistory.emplace_hint(jointHistory.end(), time, jointAngles);
if (jointHistory.size() > jointHistoryLength)
@@ -512,7 +512,7 @@ namespace armarx
IceUtil::Time duration;
{
IceUtil::Time start = IceUtil::Time::now();
- boost::unique_lock<SharedMutex> lock(poseHistoryMutex);
+ std::unique_lock lock(poseHistoryMutex);
duration = IceUtil::Time::now() - start;
poseHistory.emplace_hint(poseHistory.end(),
@@ -553,7 +553,7 @@ namespace armarx
auto RobotStateComponent::interpolateJoints(IceUtil::Time time) const -> std::optional<Timestamped<NameValueMap>>
{
- boost::shared_lock<SharedMutex> lock(jointHistoryMutex);
+ std::shared_lock lock(jointHistoryMutex);
if (jointHistory.empty())
{
ARMARX_WARNING << deactivateSpam(1) << "Joint history of robot state component is empty!";
@@ -628,7 +628,7 @@ namespace armarx
auto RobotStateComponent::interpolatePose(IceUtil::Time time) const -> std::optional<Timestamped<FramedPosePtr>>
{
- boost::shared_lock<SharedMutex> lock(poseHistoryMutex);
+ std::shared_lock lock(poseHistoryMutex);
if (poseHistory.empty())
{
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 27751d203..2a1da853b 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -37,6 +37,9 @@
#include "SharedRobotServants.h"
+#include <shared_mutex>
+#include <mutex>
+
namespace armarx
{
@@ -216,11 +219,11 @@ namespace armarx
std::string robotFile;
std::string relativeRobotFile;
- mutable SharedMutex jointHistoryMutex;
+ mutable std::shared_mutex jointHistoryMutex;
std::map<IceUtil::Time, NameValueMap> jointHistory;
size_t jointHistoryLength;
- mutable SharedMutex poseHistoryMutex;
+ mutable std::shared_mutex poseHistoryMutex;
std::map<IceUtil::Time, FramedPosePtr> poseHistory;
size_t poseHistoryLength;
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index a365530d8..58a5eb9ed 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -123,7 +123,7 @@ namespace armarx
auto channels = getAvailableChannels(false);
auto batchPrx = debugDrawer->ice_batchOneway();
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
std::set<std::string> frameAlreadyReported;
for (auto& channel : channels)
@@ -242,7 +242,7 @@ namespace armarx
void ForceTorqueObserver::updateRobot()
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
RemoteRobot::synchronizeLocalClone(localRobot, robot);
}
@@ -304,7 +304,7 @@ namespace armarx
void armarx::ForceTorqueObserver::reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& c)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
auto offerForceAndTorqueValue = [ = ](std::string const & sensorNodeName, std::string const & frame, std::string channelName, const FramedDirectionBasePtr & forces, const FramedDirectionBasePtr & torques)
{
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 24c031200..0f17d8a49 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -27,6 +27,8 @@
#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+#include <mutex>
+
namespace armarx
{
/**
@@ -92,7 +94,7 @@ namespace armarx
private:
void updateRobot();
- armarx::Mutex dataMutex;
+ std::mutex dataMutex;
std::string topicName;
RobotStateComponentInterfacePrx robot;
VirtualRobot::RobotPtr localRobot;
diff --git a/source/RobotAPI/components/units/GamepadUnitObserver.cpp b/source/RobotAPI/components/units/GamepadUnitObserver.cpp
index e6e522632..b1848c532 100644
--- a/source/RobotAPI/components/units/GamepadUnitObserver.cpp
+++ b/source/RobotAPI/components/units/GamepadUnitObserver.cpp
@@ -69,7 +69,7 @@ namespace armarx
void GamepadUnitObserver::reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
diff --git a/source/RobotAPI/components/units/GamepadUnitObserver.h b/source/RobotAPI/components/units/GamepadUnitObserver.h
index fcccf65fc..2f4d59c2a 100644
--- a/source/RobotAPI/components/units/GamepadUnitObserver.h
+++ b/source/RobotAPI/components/units/GamepadUnitObserver.h
@@ -29,6 +29,7 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <mutex>
namespace armarx
{
@@ -79,7 +80,7 @@ namespace armarx
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
DebugDrawerInterfacePrx debugDrawerPrx;
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.cpp b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
index 3a0cac2ec..527216c96 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.cpp
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
@@ -122,21 +122,21 @@ void GraspCandidateObserver::handleProviderUpdate(const std::string& providerNam
void GraspCandidateObserver::reportGraspCandidates(const std::string& providerName, const GraspCandidateSeq& candidates, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
this->candidates[providerName] = candidates;
handleProviderUpdate(providerName, candidates.size());
}
void GraspCandidateObserver::reportBimanualGraspCandidates(const std::string& providerName, const BimanualGraspCandidateSeq& candidates, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
this->bimanualCandidates[providerName] = candidates;
handleProviderUpdate(providerName, candidates.size());
}
void GraspCandidateObserver::reportProviderInfo(const std::string& providerName, const ProviderInfoPtr& info, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
providers[providerName] = info;
if (updateCounters.count(providerName) == 0)
{
@@ -153,13 +153,13 @@ void GraspCandidateObserver::reportProviderInfo(const std::string& providerName,
InfoMap GraspCandidateObserver::getAvailableProvidersWithInfo(const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return providers;
}
StringSeq GraspCandidateObserver::getAvailableProviderNames(const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return getAvailableProviderNames();
}
@@ -167,14 +167,14 @@ StringSeq GraspCandidateObserver::getAvailableProviderNames(const Ice::Current&)
ProviderInfoPtr GraspCandidateObserver::getProviderInfo(const std::string& providerName, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
checkHasProvider(providerName);
return providers[providerName];
}
bool GraspCandidateObserver::hasProvider(const std::string& providerName, const Ice::Current& c)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return hasProvider(providerName);
}
@@ -182,7 +182,7 @@ bool GraspCandidateObserver::hasProvider(const std::string& providerName, const
GraspCandidateSeq GraspCandidateObserver::getAllCandidates(const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
GraspCandidateSeq all;
for (const std::pair<std::string, grasping::GraspCandidateSeq>& pair : candidates)
{
@@ -200,7 +200,7 @@ GraspCandidateSeq GraspCandidateObserver::getCandidatesByProvider(const std::str
GraspCandidateSeq GraspCandidateObserver::getCandidatesByFilter(const CandidateFilterConditionPtr& filter, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
GraspCandidateSeq matching;
for (const std::pair<std::string, grasping::GraspCandidateSeq>& pair : candidates)
{
@@ -217,20 +217,20 @@ GraspCandidateSeq GraspCandidateObserver::getCandidatesByFilter(const CandidateF
Ice::Int GraspCandidateObserver::getUpdateCounterByProvider(const std::string& providerName, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
checkHasProvider(providerName);
return updateCounters[providerName];
}
IntMap GraspCandidateObserver::getAllUpdateCounters(const Ice::Current& providerName)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
return updateCounters;
}
bool GraspCandidateObserver::setProviderConfig(const std::string& providerName, const StringVariantBaseMap& config, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (providers.count(providerName) == 0)
{
return false;
@@ -241,19 +241,19 @@ bool GraspCandidateObserver::setProviderConfig(const std::string& providerName,
void GraspCandidateObserver::setSelectedCandidates(const GraspCandidateSeq& candidates, const Ice::Current&)
{
- ScopedLock lock(selectedCandidatesMutex);
+ std::unique_lock lock(selectedCandidatesMutex);
selectedCandidates = candidates;
}
GraspCandidateSeq GraspCandidateObserver::getSelectedCandidates(const Ice::Current&)
{
- ScopedLock lock(selectedCandidatesMutex);
+ std::unique_lock lock(selectedCandidatesMutex);
return selectedCandidates;
}
BimanualGraspCandidateSeq GraspCandidateObserver::getAllBimanualCandidates(const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
BimanualGraspCandidateSeq all;
for (const std::pair<std::string, grasping::BimanualGraspCandidateSeq>& pair : bimanualCandidates)
{
@@ -264,13 +264,13 @@ BimanualGraspCandidateSeq GraspCandidateObserver::getAllBimanualCandidates(const
void GraspCandidateObserver::setSelectedBimanualCandidates(const grasping::BimanualGraspCandidateSeq& candidates, const Ice::Current&)
{
- ScopedLock lock(selectedCandidatesMutex);
+ std::unique_lock lock(selectedCandidatesMutex);
selectedBimanualCandidates = candidates;
}
BimanualGraspCandidateSeq GraspCandidateObserver::getSelectedBimanualCandidates(const Ice::Current&)
{
- ScopedLock lock(selectedCandidatesMutex);
+ std::unique_lock lock(selectedCandidatesMutex);
return selectedBimanualCandidates;
}
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.h b/source/RobotAPI/components/units/GraspCandidateObserver.h
index a481ec279..beb95c3a2 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.h
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.h
@@ -26,6 +26,8 @@
#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/observers/GraspCandidateObserverInterface.h>
+#include <mutex>
+
namespace armarx
{
/**
@@ -106,7 +108,7 @@ namespace armarx
bool hasProvider(const std::string& providerName);
void checkHasProvider(const std::string& providerName);
grasping::StringSeq getAvailableProviderNames();
- Mutex dataMutex;
+ std::mutex dataMutex;
std::map<std::string, grasping::GraspCandidateSeq> candidates;
std::map<std::string, grasping::BimanualGraspCandidateSeq> bimanualCandidates;
grasping::InfoMap providers;
@@ -114,7 +116,7 @@ namespace armarx
grasping::GraspCandidateProviderInterfacePrx configTopic;
- Mutex selectedCandidatesMutex;
+ std::mutex selectedCandidatesMutex;
grasping::GraspCandidateSeq selectedCandidates;
grasping::BimanualGraspCandidateSeq selectedBimanualCandidates;
diff --git a/source/RobotAPI/components/units/HapticObserver.cpp b/source/RobotAPI/components/units/HapticObserver.cpp
index 759927bd8..0fe52df49 100644
--- a/source/RobotAPI/components/units/HapticObserver.cpp
+++ b/source/RobotAPI/components/units/HapticObserver.cpp
@@ -76,7 +76,7 @@ namespace armarx
void HapticObserver::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(values);
if (matrix->cols == 0)
@@ -159,7 +159,7 @@ namespace armarx
void HapticObserver::updateStatistics()
{
- /*ScopedLock lock(dataMutex);
+ /*std::unique_lock lock(dataMutex);
//ARMARX_LOG << "updateStatistics";
long now = TimestampVariant::nowLong();
for (std::map<std::string, HapticSampleStatistics>::iterator it = statistics.begin(); it != statistics.end(); ++it)
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index 5e75db5b0..cac9a85c9 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -30,6 +30,7 @@
#include <ArmarXCore/util/variants/eigen3/Eigen3VariantObjectFactories.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <mutex>
namespace armarx
{
@@ -146,7 +147,7 @@ namespace armarx
*/
PropertyDefinitionsPtr createPropertyDefinitions() override;
private:
- armarx::Mutex dataMutex;
+ std::mutex dataMutex;
std::string topicName;
PeriodicTask<HapticObserver>::pointer_type statisticsTask;
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
index 52e6f92ea..dc73454fe 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
@@ -71,7 +71,7 @@ namespace armarx
const std::string& device, const std::string& name, const IMUData& values,
const TimestampBasePtr& timestamp, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 4591228d9..728e2dc38 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -29,6 +29,7 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <mutex>
namespace armarx
{
@@ -82,7 +83,7 @@ namespace armarx
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
DebugDrawerInterfacePrx debugDrawerPrx;
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index 15712aa55..c3d52e47f 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
@@ -287,7 +287,7 @@ namespace armarx
// ARMARX_INFO << deactivateSpam(10) << " timestamp is " << (IceUtil::Time::now() - IceUtil::Time::microSeconds(timestamp)).toMicroSecondsDouble() << " µs old";
bool newChannel;
{
- ScopedLock lock(initializedChannelsMutex);
+ std::unique_lock lock(initializedChannelsMutex);
newChannel = initializedChannels.count(channelName) == 0;
initializedChannels.insert(channelName);
}
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 8d7266006..5b21e89d0 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -32,6 +32,7 @@
#include <ArmarXCore/observers/Observer.h>
#include <string>
+#include <mutex>
namespace armarx
{
@@ -154,7 +155,7 @@ namespace armarx
protected:
void nameValueMapToDataFields(const std::string& channelName, const NameValueMap& nameValueMap, Ice::Long timestamp, bool aValueChanged);
std::set<std::string> initializedChannels;
- Mutex initializedChannelsMutex;
+ std::mutex initializedChannelsMutex;
private:
std::string robotNodeSetName;
std::set<std::string> robotNodes;
diff --git a/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp b/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp
index 0944336bf..04bd47d5a 100644
--- a/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp
+++ b/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp
@@ -64,7 +64,7 @@ namespace armarx
void LaserScannerUnitObserver::reportSensorValues(const std::string& device, const std::string& name, const LaserScan& scan, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (!existsChannel(device))
{
diff --git a/source/RobotAPI/components/units/LaserScannerUnitObserver.h b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
index 4b093eb49..05aa07cb9 100644
--- a/source/RobotAPI/components/units/LaserScannerUnitObserver.h
+++ b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
@@ -29,6 +29,7 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <mutex>
namespace armarx
{
@@ -78,7 +79,7 @@ namespace armarx
const TimestampBasePtr& timestamp, const Ice::Current& c) override;
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
};
}
diff --git a/source/RobotAPI/components/units/MetaWearIMUObserver.cpp b/source/RobotAPI/components/units/MetaWearIMUObserver.cpp
index b6885037d..959373308 100644
--- a/source/RobotAPI/components/units/MetaWearIMUObserver.cpp
+++ b/source/RobotAPI/components/units/MetaWearIMUObserver.cpp
@@ -64,7 +64,7 @@ namespace armarx
void armarx::MetaWearIMUObserver::reportIMUValues(const std::string& name, const MetaWearIMUData& data, const TimestampBasePtr& timestamp, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (!existsChannel(name))
{
diff --git a/source/RobotAPI/components/units/MetaWearIMUObserver.h b/source/RobotAPI/components/units/MetaWearIMUObserver.h
index 6dba1f746..87eb6b49f 100644
--- a/source/RobotAPI/components/units/MetaWearIMUObserver.h
+++ b/source/RobotAPI/components/units/MetaWearIMUObserver.h
@@ -29,6 +29,7 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <mutex>
namespace armarx
{
@@ -74,7 +75,7 @@ namespace armarx
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
DebugDrawerInterfacePrx debugDrawerPrx;
void offerVector3(const std::string& channelName, const std::string& dfName, const std::vector<float>& data);
diff --git a/source/RobotAPI/components/units/OptoForceUnitObserver.cpp b/source/RobotAPI/components/units/OptoForceUnitObserver.cpp
index ce09bacd4..f87a5b56e 100644
--- a/source/RobotAPI/components/units/OptoForceUnitObserver.cpp
+++ b/source/RobotAPI/components/units/OptoForceUnitObserver.cpp
@@ -65,7 +65,7 @@ namespace armarx
void OptoForceUnitObserver::reportSensorValues(const std::string& device, const std::string& name, float fx, float fy, float fz, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
if (!existsChannel(name))
@@ -86,7 +86,7 @@ namespace armarx
/*void OptoForceUnitObserver::reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
diff --git a/source/RobotAPI/components/units/OptoForceUnitObserver.h b/source/RobotAPI/components/units/OptoForceUnitObserver.h
index 3bdc63e1a..0d415cb2b 100644
--- a/source/RobotAPI/components/units/OptoForceUnitObserver.h
+++ b/source/RobotAPI/components/units/OptoForceUnitObserver.h
@@ -29,6 +29,7 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <mutex>
namespace armarx
{
@@ -81,7 +82,7 @@ namespace armarx
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
DebugDrawerInterfacePrx debugDrawerPrx;
diff --git a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp
index 514a1767b..756408776 100644
--- a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp
+++ b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp
@@ -59,7 +59,7 @@ namespace armarx
void OrientedTactileSensorUnitObserver::reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, float accelerationRate, float accelx, float accely, float accelz, const TimestampBasePtr& timestamp, const Ice::Current&)
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
std::stringstream ss;
diff --git a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
index 033f9cd08..70916163f 100644
--- a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
+++ b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
@@ -29,6 +29,7 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <mutex>
namespace armarx
{
@@ -80,7 +81,7 @@ namespace armarx
private:
- Mutex dataMutex;
+ std::mutex dataMutex;
DebugDrawerInterfacePrx debugDrawerPrx;
};
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
index 9a2dbb98e..9fe87907b 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
@@ -92,7 +92,7 @@ void RobotStateObserver::updatePoses()
return;
}
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
ReadLockPtr lock2 = robot->getReadLock();
FramedPoseBaseMap tcpPoses;
std::string rootFrame = robot->getRootNode()->getName();
@@ -181,7 +181,7 @@ void RobotStateObserver::updateNodeVelocities(const NameValueMap& jointVel, long
return;
}
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
if (!robot)
{
@@ -316,7 +316,7 @@ PropertyDefinitionsPtr RobotStateObserver::createPropertyDefinitions()
void RobotStateObserver::setRobot(RobotPtr robot)
{
- ScopedRecursiveLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
this->robot = robot;
std::vector< VirtualRobot::RobotNodeSetPtr > robotNodes;
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
index b604011ae..e3acfd611 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
@@ -94,7 +94,7 @@ namespace armarx
RobotStateComponentInterfacePrx server;
VirtualRobot::RobotPtr robot, velocityReportRobot;
std::vector<std::pair<VirtualRobot::RobotNodePtr, std::string> > nodesToReport;
- RecursiveMutex dataMutex;
+ std::recursive_mutex dataMutex;
IceUtil::Time lastVelocityUpdate;
// RobotStateObserverInterface interface
--
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