From 154edc1e992d9f4e3883edef60c160feefa685d6 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 09:08:01 +0200
Subject: [PATCH] Lock core segment mutex in query processing
---
.../query_proc/base/CoreSegmentQueryProcessorBase.h | 6 +++---
.../workingmemory/CoreSegmentQueryProcessor.cpp | 8 ++++++++
.../query_proc/workingmemory/CoreSegmentQueryProcessor.h | 4 ++++
3 files changed, 15 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
index d334019c4..9d7b25182 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/CoreSegmentQueryProcessorBase.h
@@ -31,9 +31,9 @@ namespace armarx::armem::base::query_proc
using EntitySnapshotT = typename EntityT::EntitySnapshotT;
using Base::process;
- void process(_CoreSegmentT& result,
- const armem::query::data::CoreSegmentQuery& query,
- const _CoreSegmentT& coreSegment) const override
+ virtual void process(_CoreSegmentT& result,
+ const armem::query::data::CoreSegmentQuery& query,
+ const _CoreSegmentT& coreSegment) const override
{
if (auto q = dynamic_cast<const armem::query::data::core::All*>(&query))
{
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
index 692f15aed..bda9ad04d 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.cpp
@@ -14,6 +14,14 @@ namespace armarx::armem::wm::query_proc
CoreSegmentQueryProcessor::~CoreSegmentQueryProcessor() = default;
+ void CoreSegmentQueryProcessor::process(
+ CoreSegment& result, const armem::query::data::CoreSegmentQuery& query, const CoreSegment& coreSegment) const
+ {
+ std::scoped_lock lock(coreSegment.mutex());
+ CoreSegmentQueryProcessorBase::process(result, query, coreSegment);
+ }
+
+
data::CoreSegment CoreSegmentQueryProcessor::processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const
{
data::CoreSegment data;
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
index 8fc7e8a37..f9e1d59c9 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/workingmemory/CoreSegmentQueryProcessor.h
@@ -27,6 +27,10 @@ namespace armarx::armem::wm::query_proc
using Base::process;
+ /// Locks the core segment, then delegates back to `CoreSegmentQueryProcessorBase`.
+ void process(CoreSegment& result,
+ const armem::query::data::CoreSegmentQuery& query,
+ const CoreSegment& coreSegment) const override;
data::CoreSegment processToIce(const armem::query::data::CoreSegmentQuery& query, const wm::CoreSegment& coreSegment) const;
--
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