From cd468d954c49132c2dd19a765cb4479d09c1e227 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Wed, 13 Jan 2016 14:33:01 +0100
Subject: [PATCH] fixed tcp control unit crashes
---
.../components/units/TCPControlUnit.cpp | 31 ++++++++++---------
1 file changed, 16 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 0ab4790e9..c9279c4ed 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -88,7 +88,7 @@ namespace armarx
{
auto nodesets = localReportRobot->getRobotNodeSets();
- for (RobotNodeSetPtr & set : nodesets)
+ for (RobotNodeSetPtr& set : nodesets)
{
if (set->getTCP())
{
@@ -104,7 +104,7 @@ namespace armarx
boost::is_any_of(","),
boost::token_compress_on);
- for (auto & name : nodesetNames)
+ for (auto& name : nodesetNames)
{
auto node = localReportRobot->getRobotNode(name);
@@ -256,20 +256,20 @@ namespace armarx
void TCPControlUnit::request(const Ice::Current& c)
{
- ARMARX_IMPORTANT << "Requesting TCPControlUnit";
- ScopedLock lock(dataMutex);
- requested = true;
-
if (execTask)
{
- while (calculationRunning)
- {
- IceUtil::ThreadControl::yield();
- }
+ // while (calculationRunning)
+ // {
+ // IceUtil::ThreadControl::yield();
+ // }
execTask->stop();
}
+ ARMARX_IMPORTANT << "Requesting TCPControlUnit";
+ ScopedLock lock(dataMutex);
+ requested = true;
+
lastCommandTime = IceUtil::Time::now();
execTask = new PeriodicTask<TCPControlUnit>(this, &TCPControlUnit::periodicExec, cycleTime, false, "TCPVelocityCalculator");
execTask->start();
@@ -282,10 +282,10 @@ namespace armarx
ARMARX_IMPORTANT << "Releasing TCPControlUnit";
ScopedLock lock(dataMutex);
- while (calculationRunning)
- {
- IceUtil::ThreadControl::yield();
- }
+ // while (calculationRunning)
+ // {
+ // IceUtil::ThreadControl::yield();
+ // }
tcpVelocitiesMap.clear();
localTcpVelocitiesMap.clear();
@@ -304,8 +304,9 @@ namespace armarx
void TCPControlUnit::periodicExec()
{
+ ScopedTryLock lock(dataMutex);
+
{
- ScopedTryLock lock(dataMutex);
if (lock.owns_lock())
{
--
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