From c9b41a4e4dfbac2d48ce32e0a0d305aef7f60522 Mon Sep 17 00:00:00 2001
From: robdekon_h2t <robdekon@kit.edu>
Date: Fri, 23 Sep 2022 19:02:50 +0200
Subject: [PATCH] Fix leftover stop events leading to immediate return on
waitForStop
Signed-off-by: Christoph Pohl <christoph.pohl@kit.edu>
---
source/armarx/navigation/client/Navigator.cpp | 19 +++++++++++++++++++
1 file changed, 19 insertions(+)
diff --git a/source/armarx/navigation/client/Navigator.cpp b/source/armarx/navigation/client/Navigator.cpp
index 15fb4bc1..73ab51bc 100644
--- a/source/armarx/navigation/client/Navigator.cpp
+++ b/source/armarx/navigation/client/Navigator.cpp
@@ -45,6 +45,12 @@ namespace armarx::navigation::client
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(srv.navigator) << "Navigator service must not be null!";
+ {
+ // TODO: This still leads to a race condition, if extern a stop event is generated before moveTo but arrives
+ // after the event is reset
+ std::scoped_lock const l{stoppedInfo.m};
+ stoppedInfo.event.reset();
+ }
srv.navigator->moveTo(waypoints, frame);
}
@@ -58,6 +64,12 @@ namespace armarx::navigation::client
const std::vector<WaypointTarget>& path = builder.path();
validate(path);
+ {
+ // TODO: This still leads to a race condition, if extern a stop event is generated before moveTo but arrives
+ // after the event is reset
+ std::scoped_lock const l{stoppedInfo.m};
+ stoppedInfo.event.reset();
+ }
srv.navigator->moveTo(path, frame);
}
@@ -67,6 +79,13 @@ namespace armarx::navigation::client
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(srv.navigator) << "Navigator service must not be null!";
+
+ {
+ // TODO: This still leads to a race condition, if extern a stop event is generated before moveTo but arrives
+ // after the event is reset
+ std::scoped_lock const l{stoppedInfo.m};
+ stoppedInfo.event.reset();
+ }
srv.navigator->moveTowards(direction, frame);
}
--
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