From 023ef0f4cba7feef242a75c3c6e82a0c5d932b17 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 25 Jul 2018 16:39:33 +0200
Subject: [PATCH] Clean up mutex usage
---
.../RobotUnitModuleControlThreadDataBuffer.cpp | 5 +----
.../RobotUnitModules/RobotUnitModuleControllerManagement.cpp | 2 --
.../RobotUnitModules/RobotUnitModuleControllerManagement.h | 2 ++
3 files changed, 3 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
index 65efa415f..928863b7e 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
@@ -121,7 +121,6 @@ namespace armarx
bool ControlThreadDataBuffer::sensorAndControlBufferChanged() const
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- auto guard = getGuard();
throwIfDevicesNotReady(__FUNCTION__);
return controlThreadOutputBuffer.updateReadBuffer();
}
@@ -129,7 +128,6 @@ namespace armarx
const SensorAndControl& ControlThreadDataBuffer::getSensorAndControlBuffer() const
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- auto guard = getGuard();
throwIfDevicesNotReady(__FUNCTION__);
return controlThreadOutputBuffer.getReadBuffer();
}
@@ -137,7 +135,6 @@ namespace armarx
void ControlThreadDataBuffer::writeRequestedControllers(JointAndNJointControllers&& setOfControllers)
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- auto guard = getGuard();
throwIfDevicesNotReady(__FUNCTION__);
//check NJoint
const auto& nJointCtrls = setOfControllers.nJointControllers;
@@ -235,7 +232,7 @@ namespace armarx
void ControlThreadDataBuffer::setActivateControllersRequest(std::set<NJointControllerPtr, std::greater<NJointControllerPtr>> ctrls)
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- auto guard = getGuard();
+ std::lock_guard<std::recursive_mutex> guardRequested{controllersRequestedMutex};
throwIfDevicesNotReady(__FUNCTION__);
//erase nullptr
ctrls.erase(nullptr);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 7ae449768..824e460fa 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -66,14 +66,12 @@ namespace armarx
Ice::StringSeq ControllerManagement::getRequestedNJointControllerNames(const Ice::Current&) const
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- auto guard = getGuard();
return GetNonNullNames(_module<ControlThreadDataBuffer>().copyRequestedNJointControllers());
}
Ice::StringSeq ControllerManagement::getActivatedNJointControllerNames(const Ice::Current&) const
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- auto guard = getGuard();
return GetNonNullNames(_module<ControlThreadDataBuffer>().getActivatedNJointControllers());
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index 6530e53c1..49c90c949 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -429,6 +429,8 @@ namespace armarx
std::map<std::string, NJointControllerPtr> nJointControllersToBeDeleted;
/// @brief VirtualRobot used when creating controllers / calling other functions in this module
VirtualRobot::RobotPtr controllerCreateRobot;
+
+ std::recursive_mutex controllerMutex;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////////// Attorneys ////////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
--
GitLab