From 00e6e55430eed714c3023a0aed17dffcc9ac4485 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 16 Nov 2023 16:10:15 +0100
Subject: [PATCH] remove mutex from simple memory writer (makes it copyable)
---
.../armem/client/util/SimpleWriterBase.cpp | 6 -----
.../armem/client/util/SimpleWriterBase.h | 2 --
.../client/occupancy_grid/Writer.cpp | 25 +++++++++++--------
3 files changed, 14 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
index e5d468c55..3d8907a34 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp
@@ -44,12 +44,6 @@ namespace armarx::armem::client::util
}
}
- std::mutex&
- SimpleWriterBase::memoryWriterMutex()
- {
- return memoryMutex;
- }
-
armem::client::Writer&
SimpleWriterBase::memoryWriter()
{
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
index 13a54cc5b..895376b0a 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.h
@@ -58,7 +58,6 @@ namespace armarx::armem::client::util
virtual std::string propertyPrefix() const = 0;
virtual Properties defaultProperties() const = 0;
- std::mutex& memoryWriterMutex();
armem::client::Writer& memoryWriter();
@@ -66,7 +65,6 @@ namespace armarx::armem::client::util
Properties props;
armem::client::Writer memoryWriterClient;
- std::mutex memoryMutex;
};
} // namespace armarx::armem::client::util
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index a68216255..9c06db1e5 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -1,19 +1,21 @@
#include "Writer.h"
-#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
#include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
namespace armarx::armem::vision::occupancy_grid::client
{
Writer::~Writer() = default;
- bool Writer::store(const OccupancyGrid& grid,
- const std::string& frame,
- const std::string& providerName,
- const std::int64_t& timestamp)
+ bool
+ Writer::store(const OccupancyGrid& grid,
+ const std::string& frame,
+ const std::string& providerName,
+ const std::int64_t& timestamp)
{
- std::lock_guard g{memoryWriterMutex()};
+ static std::mutex mutex;
+
+ std::lock_guard g{mutex};
const auto result = memoryWriter().addSegment(properties().coreSegmentName, providerName);
@@ -28,7 +30,7 @@ namespace armarx::armem::vision::occupancy_grid::client
const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
const auto providerId = armem::MemoryID(result.segmentID);
- const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
+ const auto entityID = providerId.withEntityName(frame).withTimestamp(iceTimestamp);
armem::EntityUpdate update;
update.entityID = entityID;
@@ -41,7 +43,7 @@ namespace armarx::armem::vision::occupancy_grid::client
dict->addElement("grid", toAron(grid.grid));
update.instancesData = {dict};
- update.referencedTime = iceTimestamp;
+ update.referencedTime = iceTimestamp;
ARMARX_DEBUG << "Committing " << update << " at time " << iceTimestamp;
armem::EntityUpdateResult updateResult = memoryWriter().commit(update);
@@ -56,7 +58,8 @@ namespace armarx::armem::vision::occupancy_grid::client
return updateResult.success;
}
- std::string Writer::propertyPrefix() const
+ std::string
+ Writer::propertyPrefix() const
{
return "mem.vision.occupancy_grid.";
}
@@ -65,7 +68,7 @@ namespace armarx::armem::vision::occupancy_grid::client
Writer::defaultProperties() const
{
- return SimpleWriterBase::Properties{.memoryName = "Vision",
+ return SimpleWriterBase::Properties{.memoryName = "Vision",
.coreSegmentName = "OccupancyGrid"};
}
} // namespace armarx::armem::vision::occupancy_grid::client
--
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