From baeed1283942218806ef496b6c960d98faee0cad Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 10 Oct 2019 16:22:06 +0200
Subject: [PATCH] Poll for updates asynchronously - No network calls in the GUI
thread
---
.../components/ArViz/Coin/Visualizer.cpp | 27 ++++++++++++-------
.../components/ArViz/Coin/Visualizer.h | 1 +
.../components/ArViz/Coin/VisualizerMesh.h | 6 ++---
3 files changed, 22 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 952038fd1..174f55a60 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -227,10 +227,26 @@ namespace armarx
}
}
- LayerUpdates pulledUpdates;
try
{
- pulledUpdates = storage->pullUpdatesSince(updateCounter);
+ if (pullUpdateResult)
+ {
+ // We never block the GUI thread with Ice calls: Only get result when call is completed
+ if (pullUpdateResult->isCompleted())
+ {
+ LayerUpdates pulledUpdates = storage->end_pullUpdatesSince(pullUpdateResult);
+ for (LayerUpdate const& update : pulledUpdates.updates)
+ {
+ apply(update);
+ }
+ updateCounter = pulledUpdates.updateCounter;
+ }
+ else
+ {
+ return;
+ }
+ }
+ pullUpdateResult = storage->begin_pullUpdatesSince(updateCounter);
}
catch (Ice::LocalException const& ex)
{
@@ -242,13 +258,6 @@ namespace armarx
state = CoinVisualizerState::STOPPED;
return;
}
-
- for (LayerUpdate const& update : pulledUpdates.updates)
- {
- apply(update);
- }
-
- updateCounter = pulledUpdates.updateCounter;
}
}
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index c7ee581c3..a40c4bf19 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -58,6 +58,7 @@ namespace armarx
std::mutex storageMutex;
viz::StorageInterfacePrx storage;
+ Ice::AsyncResultPtr pullUpdateResult;
long updateCounter = 0;
SoTimerSensor* timerSensor = nullptr;
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h b/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
index bb91542ef..e7a858e6c 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h
@@ -133,9 +133,9 @@ namespace armarx::viz::coin
matInx[i * 4 + 3] = SO_END_FACE_INDEX;
}
- SoIndexedFaceSet* myFaceSet = data->faceSet;
- myFaceSet->coordIndex.setValuesPointer(faces.size(), faces.data());
- myFaceSet->materialIndex.setValuesPointer(matInx.size(), matInx.data());
+ SoIndexedFaceSet* faceSet = data->faceSet;
+ faceSet->coordIndex.setValuesPointer(faces.size(), faces.data());
+ faceSet->materialIndex.setValuesPointer(matInx.size(), matInx.data());
}
};
}
--
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