From 60a311fdd6e94767191762a858cf904993a6cbf8 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Wed, 18 May 2016 17:53:43 +0200
Subject: [PATCH] mutex fix in kinematic unit gui
---
.../KinematicUnitGuiPlugin.cpp | 35 ++++++++++++-------
1 file changed, 22 insertions(+), 13 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 72df5f416..f712c2ecd 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -940,14 +940,15 @@ QString KinematicUnitWidgetController::translateStatus(ErrorStatus status)
void KinematicUnitWidgetController::updateJointAnglesTable()
{
- if (!robotNodeSet)
- {
- return;
- }
+
float dirty_squaresum = 0;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ if (!robotNodeSet)
+ {
+ return;
+ }
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
@@ -983,13 +984,17 @@ void KinematicUnitWidgetController::updateJointAnglesTable()
void KinematicUnitWidgetController::updateJointVelocitiesTable()
{
- if (!getWidget() || !robotNodeSet)
+ if (!getWidget())
{
return;
}
float dirty_squaresum = 0;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ if (!robotNodeSet)
+ {
+ return;
+ }
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
QTableWidgetItem* newItem;
@@ -1019,12 +1024,13 @@ void KinematicUnitWidgetController::updateJointVelocitiesTable()
void KinematicUnitWidgetController::updateJointTorquesTable()
{
+
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
if (!getWidget() || !robotNodeSet)
{
return;
}
-
- boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
QTableWidgetItem* newItem;
NameValueMap::const_iterator it;
@@ -1046,12 +1052,13 @@ void KinematicUnitWidgetController::updateJointTorquesTable()
void KinematicUnitWidgetController::updateJointCurrentsTable()
{
+
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
if (!getWidget() || !robotNodeSet)
{
return;
}
-
- boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
QTableWidgetItem* newItem;
NameValueMap::const_iterator it;
@@ -1073,12 +1080,13 @@ void KinematicUnitWidgetController::updateJointCurrentsTable()
void KinematicUnitWidgetController::updateJointMotorTemperaturesTable()
{
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
if (!getWidget() || !robotNodeSet)
{
return;
}
- boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
QTableWidgetItem* newItem;
NameValueMap::const_iterator it;
@@ -1198,13 +1206,14 @@ void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap& joi
void KinematicUnitWidgetController::updateModel()
{
+
+
+ // ARMARX_INFO << "updateModel()" << flush;
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
if (!robotNodeSet)
{
return;
}
-
- // ARMARX_INFO << "updateModel()" << flush;
- boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn2 = robotNodeSet->getAllRobotNodes();
std::vector< RobotNodePtr > usedNodes;
--
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