From f63f72618e63a90d1f1da93e7972eb6dd6d904c7 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 25 Apr 2018 08:18:06 +0200
Subject: [PATCH] Fix RobotUnitGui hanging when RobotUnit is running on a
different pc
---
.../QWidgets/ControlDevicesWidget.cpp | 12 ++++++++----
.../QWidgets/NJointControllerClassesWidget.cpp | 6 +++---
.../QWidgets/NJointControllersWidget.cpp | 14 +++++++++-----
.../QWidgets/RobotUnitWidgetBase.cpp | 6 +++---
.../RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h | 2 +-
.../QWidgets/SensorDevicesWidget.cpp | 10 +++++++---
6 files changed, 31 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.cpp
index 9bedd0780..84521faef 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.cpp
@@ -70,7 +70,11 @@ namespace armarx
void ControlDevicesWidget::controlDeviceStatusChanged(const ControlDeviceStatus& status)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex, std::defer_lock};
+ if (!guard.try_lock_for(std::chrono::microseconds(100)))
+ {
+ return;
+ }
if (statusUpdates[status.deviceName].timestampUSec < status.timestampUSec)
{
statusUpdates[status.deviceName] = status;
@@ -98,7 +102,7 @@ namespace armarx
{
auto temp = robotUnit->getControlDeviceDescriptions();
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
resetData = std::move(temp);
}
}
@@ -116,7 +120,7 @@ namespace armarx
void ControlDevicesWidget::add(const ControlDeviceDescription& desc)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
if (entries.count(desc.deviceName))
{
return;
@@ -126,7 +130,7 @@ namespace armarx
void ControlDevicesWidget::update(const ControlDeviceStatus& status)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
if (!robotUnit || ! robotUnit->isRunning())
{
return;
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp
index 03ce425d2..f4462a470 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp
@@ -90,7 +90,7 @@ namespace armarx
void NJointControllerClassesWidget::nJointControllerClassAdded(std::string name)
{
RobotUnitInterfacePrx ru;
- std::unique_lock<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
if (!robotUnit)
{
return;
@@ -155,7 +155,7 @@ namespace armarx
{
auto temp = robotUnit->getNJointControllerClassDescriptions();
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
for (NJointControllerClassDescription& ds : temp)
{
nJointControllerClassDescriptions[ds.className] = std::move(ds);
@@ -216,7 +216,7 @@ namespace armarx
void NJointControllerClassesWidget::add(const NJointControllerClassDescription& desc)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
if (entries.count(desc.className))
{
return;
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp
index d0289b8ae..554ee4780 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp
@@ -89,7 +89,11 @@ namespace armarx
void NJointControllersWidget::nJointControllerStatusChanged(const NJointControllerStatus& status)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex, std::defer_lock};
+ if (!guard.try_lock_for(std::chrono::microseconds(100)))
+ {
+ return;
+ }
if (statusUpdates[status.instanceName].timestampUSec < status.timestampUSec)
{
statusUpdates[status.instanceName] = status;
@@ -108,7 +112,7 @@ namespace armarx
void NJointControllersWidget::onPushButtonStopAll_clicked()
{
- if(robotUnit)
+ if (robotUnit)
{
robotUnit->switchNJointControllerSetup({});
}
@@ -133,7 +137,7 @@ namespace armarx
void NJointControllersWidget::nJointControllerCreated(std::string name)
{
RobotUnitInterfacePrx ru;
- std::unique_lock<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
if (isResetting || !robotUnit || entries.count(name))
{
return;
@@ -151,7 +155,7 @@ namespace armarx
void NJointControllersWidget::nJointControllerDeleted(std::string name)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
controllersDeleted.emplace(name);
QMetaObject::invokeMethod(this, "updateContent", Qt::QueuedConnection);
}
@@ -226,7 +230,7 @@ namespace armarx
{
auto temp = robotUnit->getNJointControllerDescriptionsWithStatuses();
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
for (NJointControllerDescriptionWithStatus& ds : temp)
{
controllersCreated[ds.description.instanceName] = std::move(ds);
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.cpp
index 995cfff50..f4b419b4b 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.cpp
@@ -39,7 +39,7 @@ namespace armarx
{
return;
}
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
resetCount = 0;
getResettigLabel().setText("Resetting... " + QString::number(resetCount));
getStackedWidget().setCurrentIndex(0);
@@ -54,14 +54,14 @@ namespace armarx
{
isResetting = true;
gotResetData = false;
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
robotUnit = ru;
QMetaObject::invokeMethod(this, "doReset", Qt::QueuedConnection);
}
void RobotUnitWidgetBase::doReset()
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
clearAll();
getTreeWidget().clear();
addFilter();
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
index 7a6a122a0..09ab24e9e 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
@@ -75,7 +75,7 @@ namespace armarx
void timerEvent(QTimerEvent*) override;
RobotUnitInterfacePrx robotUnit;
- mutable std::recursive_mutex mutex;
+ mutable std::recursive_timed_mutex mutex;
std::atomic_bool gotResetData {false};
int resetTimerId {0};
int resetCount {0};
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.cpp
index a6ff6b745..87ed1e20e 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.cpp
@@ -54,7 +54,11 @@ namespace armarx
void SensorDevicesWidget::sensorDeviceStatusChanged(const SensorDeviceStatus& status)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex, std::defer_lock};
+ if (!guard.try_lock_for(std::chrono::microseconds(100)))
+ {
+ return;
+ }
if (statusUpdates[status.deviceName].timestampUSec < status.timestampUSec)
{
statusUpdates[status.deviceName] = status;
@@ -86,7 +90,7 @@ namespace armarx
{
auto temp = robotUnit->getSensorDeviceDescriptions();
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
resetData = std::move(temp);
}
}
@@ -104,7 +108,7 @@ namespace armarx
void SensorDevicesWidget::add(const SensorDeviceDescription& desc)
{
- std::lock_guard<std::recursive_mutex> guard {mutex};
+ std::unique_lock<std::recursive_timed_mutex> guard {mutex};
if (!entries.count(desc.deviceName))
{
entries[desc.deviceName] = new SensorDevicesWidgetEntry(*this, *(ui->treeWidget), desc);
--
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