From b400eddcc4400226c148d2ebd024db5683e2df16 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Sat, 19 Nov 2022 19:35:51 +0100
Subject: [PATCH] scheduler: fix for handling update of active target (priority
was not updated)
---
.../components/gaze_scheduler/Scheduler.cpp | 26 +++++++++----------
1 file changed, 12 insertions(+), 14 deletions(-)
diff --git a/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp b/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp
index 0ea8d9e..c962db7 100644
--- a/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp
+++ b/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp
@@ -301,19 +301,8 @@ namespace armarx::view_selection::gaze_scheduler
{
std::scoped_lock<std::mutex> targetLock(targetMutex);
- const auto currentTarget = currentTargetBuffer.getUpToDateReadBuffer();
- // replace the target if it is currently active
- if (currentTarget.has_value())
- {
- if (currentTarget->name == target.name)
- {
- ARMARX_VERBOSE << "Updating active target: " << target.name;
- submitControlTarget(target);
-
- return;
- }
- }
- // remove target if found in queue
+ // remove target if found in queue
+ // (otherwise, two targets with the same name but different priorities will be in the queue)
for (auto it = requestedTargets.cbegin(); it != requestedTargets.cend(); it++)
{
if (it->name == target.name)
@@ -326,7 +315,6 @@ namespace armarx::view_selection::gaze_scheduler
// multiset automatically ensures order
requestedTargets.emplace(target);
}
- scheduleNextTarget();
}
void
@@ -343,6 +331,13 @@ namespace armarx::view_selection::gaze_scheduler
// this will be only used in one of the if-else cases so that they do not
// influence each other
auto nextTarget = requestedTargets.cbegin();
+ ARMARX_VERBOSE << "Next target is " << nextTarget->name;
+
+ ARMARX_DEBUG << "Targets in queue";
+ for(const auto& target: requestedTargets)
+ {
+ ARMARX_DEBUG << target;
+ }
const auto currentTarget = currentTargetBuffer.getUpToDateReadBuffer();
@@ -441,6 +436,9 @@ namespace armarx::view_selection::gaze_scheduler
}
}
}
+
+ scheduleNextTarget();
+
}
else
{
--
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