From 122302a6c71e3c2cd74cecd5b72928035a9596e0 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 09:07:26 +0200
Subject: [PATCH] Add mutex to wm::CoreSegment
---
.../armem/core/workingmemory/CoreSegment.cpp | 16 ++++++++++++++++
.../armem/core/workingmemory/CoreSegment.h | 9 ++++++++-
2 files changed, 24 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
index 285235b76..47f361a42 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.cpp
@@ -8,6 +8,14 @@
namespace armarx::armem::wm
{
+ CoreSegment::CoreSegment(const CoreSegment& other) :
+ CoreSegment::Base(other),
+ _mutex()
+ {
+ // Do not copy _mutex.
+ }
+
+
Commit CoreSegment::toCommit() const
{
Commit c;
@@ -18,6 +26,7 @@ namespace armarx::armem::wm
return c;
}
+
void CoreSegment::_copySelfWithoutData(CoreSegment& other) const
{
other.id() = _id;
@@ -27,4 +36,11 @@ namespace armarx::armem::wm
other.addProviderSegment(s.copyWithoutData());
}
}
+
+
+ std::mutex& CoreSegment::mutex() const
+ {
+ return _mutex;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
index 7847bbb71..ef4d5f36d 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h
@@ -1,5 +1,7 @@
#pragma once
+#include <mutex>
+
#include "../base/CoreSegmentBase.h"
#include "ProviderSegment.h"
@@ -22,7 +24,7 @@ namespace armarx::armem::wm
using Base::CoreSegmentBase;
- CoreSegment(const CoreSegment& other) = default;
+ CoreSegment(const CoreSegment& other);
CoreSegment(CoreSegment&& other) = default;
CoreSegment& operator=(const CoreSegment& other) = default;
CoreSegment& operator=(CoreSegment&& other) = default;
@@ -33,10 +35,15 @@ namespace armarx::armem::wm
*/
Commit toCommit() const;
+ std::mutex& mutex() const;
+
+
protected:
virtual void _copySelfWithoutData(CoreSegment& other) const override;
+ mutable std::mutex _mutex;
+
};
}
--
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