Rename getRequestedXYZ functions to copyRequestedXYZ (the new name makes their functionality clear)

Also fix some errors due to value return instead of reference return

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp

@@ -90,21 +90,21 @@ namespace armarx
             return controllersActivated.updateReadBuffer();
         }
 
-        JointAndNJointControllers ControlThreadDataBuffer::getRequestedControllers() const
+        JointAndNJointControllers ControlThreadDataBuffer::copyRequestedControllers() const
         {
             throwIfDevicesNotReady(__FUNCTION__);
             std::lock_guard<std::recursive_mutex> guard{controllersRequestedMutex};
             return controllersRequested.getWriteBuffer();
         }
 
-        std::vector<JointController *> ControlThreadDataBuffer::getRequestedJointControllers() const
+        std::vector<JointController *> ControlThreadDataBuffer::copyRequestedJointControllers() const
         {
             throwIfDevicesNotReady(__FUNCTION__);
             std::lock_guard<std::recursive_mutex> guard{controllersRequestedMutex};
             return controllersRequested.getWriteBuffer().jointControllers;
         }
 
-        std::vector<NJointController *> ControlThreadDataBuffer::getRequestedNJointControllers() const
+        std::vector<NJointController *> ControlThreadDataBuffer::copyRequestedNJointControllers() const
         {
             throwIfDevicesNotReady(__FUNCTION__);
             std::lock_guard<std::recursive_mutex> guard{controllersRequestedMutex};
@@ -229,11 +229,12 @@ namespace armarx
             //erase nullptr
             ctrls.erase(nullptr);
             ARMARX_CHECK_EXPRESSION(ctrls.size() <= _module<Devices>().getNumberOfControlDevices());
+
             const std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> setOfRequestedCtrls
             {
-               getRequestedNJointControllers().begin(),
-               getRequestedNJointControllers().end()
-        }   ;
+                controllersRequested.getWriteBuffer().nJointControllers.begin(),
+                controllersRequested.getWriteBuffer().nJointControllers.end()
+            };
             if (setOfRequestedCtrls == ctrls)
             {
                 //redirty the flag to swap in the same set again
@@ -268,7 +269,7 @@ namespace armarx
                 JointController*& jointCtrl = request.jointControllers.at(i);
                 if (!jointCtrl)
                 {
-                    JointController* jointCtrlOld = getRequestedJointControllers().at(i);
+                    JointController* jointCtrlOld = controllersRequested.getWriteBuffer().jointControllers.at(i);
                     if (jointCtrlOld == _module<Devices>().getControlDevices().at(i)->getJointStopMovementController())
                     {
                         //don't replace this controller with emergency stop

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h

@@ -155,7 +155,7 @@ namespace armarx
              * @see NJointController::deactivateController
              * @see setActivateControllersRequest
              */
-            JointAndNJointControllers getRequestedControllers() const;
+            JointAndNJointControllers copyRequestedControllers() const;
             /**
              * @brief Returns the set of requsted \ref JointController "JointControllers".
              * @return The set of requested \ref JointController "JointControllers".
@@ -167,7 +167,7 @@ namespace armarx
              * @see NJointController::deactivateController
              * @see setActivateControllersRequest
              */
-            std::vector<JointController*> getRequestedJointControllers() const;
+            std::vector<JointController*> copyRequestedJointControllers() const;
             /**
              * @brief Returns the set of requsted \ref NJointController "NJointControllers".
              * @return The set of requested \ref NJointController "NJointControllers".
@@ -179,7 +179,7 @@ namespace armarx
              * @see NJointController::deactivateController
              * @see setActivateControllersRequest
              */
-            std::vector<NJointController *> getRequestedNJointControllers() const;
+            std::vector<NJointController *> copyRequestedNJointControllers() const;
 
             /**
              * @brief Updates the sensor and control buffer and returns whether the buffer was updated.

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp

@@ -78,7 +78,7 @@ namespace armarx
         Ice::StringSeq ControllerManagement::getRequestedNJointControllerNames(const Ice::Current &) const
         {
             auto guard = getGuard();
-            return GetNonNullNames(_module<ControlThreadDataBuffer>().getRequestedNJointControllers());
+            return GetNonNullNames(_module<ControlThreadDataBuffer>().copyRequestedNJointControllers());
         }
 
         Ice::StringSeq ControllerManagement::getActivatedNJointControllerNames(const Ice::Current &) const
@@ -284,11 +284,8 @@ namespace armarx
             ARMARX_DEBUG << "all requested controllers exist" << std::flush;
             std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrlsToAct {ctrlsToActVec.begin(), ctrlsToActVec.end()};
             ARMARX_CHECK_EXPRESSION(!ctrlsToAct.count(nullptr));
-            std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrls
-            {
-                _module<ControlThreadDataBuffer>().getRequestedNJointControllers().begin(),
-                _module<ControlThreadDataBuffer>().getRequestedNJointControllers().end()
-            };
+            const auto ctrlVector = _module<ControlThreadDataBuffer>().copyRequestedNJointControllers();
+            std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrls {ctrlVector.begin(), ctrlVector.end()};
             ctrls.erase(nullptr);
             //check for conflict
             std::vector<char> inuse;
@@ -353,11 +350,8 @@ namespace armarx
             auto guard = getGuard();
             throwIfDevicesNotReady(__FUNCTION__);
             auto ctrlsDeacVec = getNJointControllersNotNull(names); //also checks if these controllers exist
-            std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrls
-            {
-                _module<ControlThreadDataBuffer>().getRequestedNJointControllers().begin(),
-                _module<ControlThreadDataBuffer>().getRequestedNJointControllers().end()
-            };
+            const auto ctrlVector = _module<ControlThreadDataBuffer>().copyRequestedNJointControllers();
+            std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrls {ctrlVector.begin(), ctrlVector.end()};
             for (const auto& nJointCtrlToDeactivate : ctrlsDeacVec)
             {
                 ctrls.erase(nJointCtrlToDeactivate);

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.cpp

@@ -136,8 +136,9 @@ namespace armarx
             const auto activeJointCtrl = _module<ControlThreadDataBuffer>().getActivatedJointControllers().at(idx);
             status.activeControlMode = activeJointCtrl ? activeJointCtrl->getControlMode() : std::string {"!!JointController is nullptr!!"};
             status.deviceName = controlDevice->getDeviceName();
-            ARMARX_CHECK_EXPRESSION(_module<ControlThreadDataBuffer>().getRequestedJointControllers().at(idx));
-            status.requestedControlMode = _module<ControlThreadDataBuffer>().getRequestedJointControllers().at(idx)->getControlMode();
+            const auto requestedJointControllers   = _module<ControlThreadDataBuffer>().copyRequestedJointControllers();
+            ARMARX_CHECK_EXPRESSION(requestedJointControllers.at(idx));
+            status.requestedControlMode = requestedJointControllers.at(idx)->getControlMode();
             for (const auto& targ : _module<ControlThreadDataBuffer>().getSensorAndControlBuffer().control.at(idx))
             {
                 status.controlTargetValues[targ->getControlMode()] = targ->toVariants(_module<ControlThreadDataBuffer>().getSensorAndControlBuffer().sensorValuesTimestamp);

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp

@@ -285,7 +285,7 @@ namespace armarx
             //setup datastructures
             const auto& controlThreadOutputBuffer =  _module<ControlThreadDataBuffer>().getSensorAndControlBuffer();
             const auto& activatedControllers   = _module<ControlThreadDataBuffer>().getActivatedControllers();
-            const auto& requestedJointControllers   = _module<ControlThreadDataBuffer>().getRequestedJointControllers();
+            const auto requestedJointControllers   = _module<ControlThreadDataBuffer>().copyRequestedJointControllers();
 
             const auto timestamp = controlThreadOutputBuffer.sensorValuesTimestamp;