From 499fbe058550a9ee1ec2aae151af22e897abbc27 Mon Sep 17 00:00:00 2001
From: David <david.schiebener@kit.edu>
Date: Tue, 19 Jan 2016 19:29:35 +0100
Subject: [PATCH] lock now locks everything so there are no more segfaults (I
hope)
---
.../components/units/TCPControlUnit.cpp | 30 +++++++++----------
1 file changed, 15 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index c9279c4ed..ccc88e992 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -306,9 +306,9 @@ namespace armarx
{
ScopedTryLock lock(dataMutex);
+ if (lock.owns_lock())
{
- if (lock.owns_lock())
{
localTcpVelocitiesMap.clear();
TCPVelocityDataMap::iterator it = tcpVelocitiesMap.begin();
@@ -331,23 +331,23 @@ namespace armarx
RemoteRobot::synchronizeLocalClone(localRobot, robotStateComponentPrx);
//ARMARX_DEBUG << "RN TCP R pose2:" << localRobot->getRobotNode("TCP R")->getGlobalPose();
}
- }
- calculationRunning = true;
+ //calculationRunning = true;
- if (requested)
- {
- // if((IceUtil::Time::now()-lastCommandTime).toMilliSecondsDouble() > getProperty<float>("MaximumCommandDelay").getValue())
- // {
- // ARMARX_WARNING << "Exceeded MaximumCommandDelay - releasing TCPControlUnit";
- // calculationRunning = false;
- // release(); <---- this is a potential deadlock
- // }
- // else
- calcAndSetVelocities();
- }
+ if (requested)
+ {
+ // if((IceUtil::Time::now()-lastCommandTime).toMilliSecondsDouble() > getProperty<float>("MaximumCommandDelay").getValue())
+ // {
+ // ARMARX_WARNING << "Exceeded MaximumCommandDelay - releasing TCPControlUnit";
+ // calculationRunning = false;
+ // release(); <---- this is a potential deadlock
+ // }
+ // else
+ calcAndSetVelocities();
+ }
- calculationRunning = false;
+ //calculationRunning = false;
+ }
}
--
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