add locks

source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.cpp

@@ -113,6 +113,8 @@ bool TrajectoryControllerSubUnit::resetTrajectoryPlayer(bool moveToFrameZeroPose
 
 void TrajectoryControllerSubUnit::loadJointTraj(const TrajectoryBasePtr& jointTraj, const Ice::Current& c)
 {
+    ScopedLock lock(dataMutex);
+
     this->jointTraj = TrajectoryPtr::dynamicCast(jointTraj);
 
     if (!this->jointTraj)
@@ -157,11 +159,15 @@ double TrajectoryControllerSubUnit::getTrajEndTime(const Ice::Current& c)
 
 double TrajectoryControllerSubUnit::getCurrentTime(const Ice::Current& c)
 {
+    ScopedLock lock(dataMutex);
+
     return jointTrajController->getCurrentTrajTime();
 }
 
 void TrajectoryControllerSubUnit::setEndTime(Ice::Double end, const Ice::Current& c)
 {
+    ScopedLock lock(dataMutex);
+
     if (jointTrajController)
     {
         ARMARX_WARNING << "TrajectoryController already running. Please reset it before setting a new end-time.";
@@ -186,6 +192,8 @@ void TrajectoryControllerSubUnit::setIsPreview(bool isPreview, const Ice::Curren
 
 bool TrajectoryControllerSubUnit::setJointsInUse(const std::string& jointName, bool isInUse, const Ice::Current& c)
 {
+    ScopedLock lock(dataMutex);
+
     if (isInUse && (std::find(usedJoints.begin(), usedJoints.end(), jointName) == usedJoints.end()))
     {
         usedJoints.push_back(jointName);

source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h

@@ -160,6 +160,8 @@ namespace armarx
         float kd;
         float maxVelocity;
         bool considerConstraintsForTrajectoryOptimization = true;
+
+        Mutex dataMutex;
     };
 }