From 276312cf37a462db2dfa8280db2970a3a79e48b8 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 12:18:27 +0200
Subject: [PATCH] Update RobotStateWriter
---
.../armem/server/RobotStateMemory/RobotStateMemory.cpp | 2 +-
.../armem/server/RobotStateMemory/RobotStateWriter.cpp | 10 ++++------
.../armem/server/RobotStateMemory/RobotStateWriter.h | 3 +--
3 files changed, 6 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 6d37d9203..dd2a56edb 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -164,7 +164,7 @@ namespace armarx::armem::server::robot_state
{
robotUnit.writer.run(
robotUnit.pollFrequency, robotUnit.dataQueue, robotUnit.dataMutex,
- iceMemory, localizationSegment, workingMemoryMutex
+ iceMemory, localizationSegment
);
}, "Robot State Writer");
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.cpp
index 8b49307bd..e4b2df5fc 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.cpp
@@ -65,11 +65,9 @@ namespace armarx::armem::server::robot_state
}
- void RobotStateWriter::run(
- float pollFrequency,
- std::queue<RobotUnitData>& dataQueue, std::mutex& dataMutex,
- MemoryToIceAdapter& memory, localization::Segment& localizationSegment,
- std::mutex& workingMemoryMutex)
+ void RobotStateWriter::run(float pollFrequency,
+ std::queue<RobotUnitData>& dataQueue, std::mutex& dataMutex,
+ MemoryToIceAdapter& memory, localization::Segment& localizationSegment)
{
CycleUtil cycle(static_cast<int>(1000.f / pollFrequency));
while (task and not task->isStopped())
@@ -97,9 +95,9 @@ namespace armarx::armem::server::robot_state
armem::CommitResult result;
{
- std::scoped_lock lock(workingMemoryMutex);
endLock = std::chrono::high_resolution_clock::now();
+ // Commits locks the core segment.
result = memory.commit(update.proprioception);
endProprioception = std::chrono::high_resolution_clock::now();
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.h
index 8111357d2..93ba74d2d 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateWriter.h
@@ -61,8 +61,7 @@ namespace armarx::armem::server::robot_state
void run(float pollFrequency,
std::queue<RobotUnitData>& dataQueue, std::mutex& dataMutex,
MemoryToIceAdapter& memory,
- localization::Segment& localizationSegment,
- std::mutex& workingMemoryMutex
+ localization::Segment& localizationSegment
);
--
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