From 9fdc2b6235e63a479e3aafdba16bda07977e1dd6 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 16 Jul 2021 09:07:47 +0200
Subject: [PATCH] Lock core segment mutex in Memory::update()
---
.../libraries/armem/core/base/MemoryBase.h | 2 +-
.../armem/core/workingmemory/Memory.cpp | 22 +++++++++++++++++++
.../armem/core/workingmemory/Memory.h | 4 ++++
3 files changed, 27 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 69cd01fc1..5fe6f875a 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -238,7 +238,7 @@ namespace armarx::armem::base
* @param update The update.
* @return The resulting entity snapshot's ID.
*/
- UpdateResult update(const EntityUpdate& update)
+ virtual UpdateResult update(const EntityUpdate& update)
{
this->_checkContainerName(update.entityID.memoryName, this->name());
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
index 3d2efd224..623858a44 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp
@@ -3,6 +3,28 @@
namespace armarx::armem::wm
{
+
+ Memory::Base::UpdateResult Memory::update(const EntityUpdate& update)
+ {
+ this->_checkContainerName(update.entityID.memoryName, this->name());
+
+ auto it = this->_container.find(update.entityID.coreSegmentName);
+ if (it != this->_container.end())
+ {
+ Base::UpdateResult ret;
+ {
+ std::scoped_lock lock(it->second.mutex());
+ ret = it->second.update(update);
+ }
+ ret.memoryUpdateType = UpdateType::UpdatedExisting;
+ return ret;
+ }
+ else
+ {
+ throw armem::error::MissingEntry::create<CoreSegment>(update.entityID.coreSegmentName, *this);
+ }
+ }
+
Commit Memory::toCommit() const
{
Commit c;
diff --git a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
index 3c64c0841..b2db9f7bc 100644
--- a/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/workingmemory/Memory.h
@@ -27,6 +27,10 @@ namespace armarx::armem::wm
Memory& operator=(const Memory& other) = default;
Memory& operator=(Memory&& other) = default;
+
+ virtual Base::UpdateResult update(const EntityUpdate& update) override;
+
+
/**
* @brief Convert the content of this memory into a commit
* @return The resulting commit
--
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