From fcede046a8bac4b0698f3f09376fedac47ccd528 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Thu, 4 Sep 2014 10:07:53 +0200
Subject: [PATCH] Added mutex to avoid crash on concurrent robot cloning

---
 source/RobotAPI/robotstate/SharedRobotServants.cpp | 4 ++++
 source/RobotAPI/robotstate/SharedRobotServants.h   | 1 +
 source/RobotAPI/robotstate/remote/RemoteRobot.cpp  | 7 ++++---
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/source/RobotAPI/robotstate/SharedRobotServants.cpp b/source/RobotAPI/robotstate/SharedRobotServants.cpp
index fe78f4a15..a87910fe6 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.cpp
+++ b/source/RobotAPI/robotstate/SharedRobotServants.cpp
@@ -236,6 +236,8 @@ SharedRobotServant::~SharedRobotServant()
 #ifdef VERBOSE
     ARMARX_WARNING_S << "destruct " << this << flush;
 #endif
+    boost::recursive_mutex::scoped_lock cloneLock(m);
+
     BOOST_FOREACH(NodeCache::value_type value, this->_cachedNodes)
         value.second->unref();
 }
@@ -244,6 +246,7 @@ SharedRobotNodeInterfacePrx SharedRobotServant::getRobotNode(const string &name,
 {
 //    ARMARX_LOG_S << "Looking for node: " << name << flush;
     assert(_robot);
+    boost::recursive_mutex::scoped_lock cloneLock(m);
 
     if (this->_cachedNodes.find(name) == this->_cachedNodes.end()){
         RobotNodePtr robotNode = _robot->getRobotNode(name);
@@ -264,6 +267,7 @@ SharedRobotNodeInterfacePrx SharedRobotServant::getRobotNode(const string &name,
 SharedRobotNodeInterfacePrx SharedRobotServant::getRootNode(const Current &current)
 {
     assert(_robot);
+    boost::recursive_mutex::scoped_lock cloneLock(m);
     string name = _robot->getRootNode()/*,current*/->getName();
     return this->getRobotNode(name, current);
 }
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.h b/source/RobotAPI/robotstate/SharedRobotServants.h
index e52797cd9..735682fbb 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.h
+++ b/source/RobotAPI/robotstate/SharedRobotServants.h
@@ -118,6 +118,7 @@ namespace armarx {
 
     protected:
         VirtualRobot::RobotPtr _robot;
+        boost::recursive_mutex m;
         std::map<std::string, SharedRobotNodeInterfacePrx> _cachedNodes;
     };
 }
diff --git a/source/RobotAPI/robotstate/remote/RemoteRobot.cpp b/source/RobotAPI/robotstate/remote/RemoteRobot.cpp
index dc2be4c3c..b8d771e7e 100644
--- a/source/RobotAPI/robotstate/remote/RemoteRobot.cpp
+++ b/source/RobotAPI/robotstate/remote/RemoteRobot.cpp
@@ -63,7 +63,7 @@ bool RemoteRobot::hasRobotNode( RobotNodePtr robotNode )
     return this->hasRobotNode(robotNode->getName());
 
     /*
-     * This just does nost work. because you cannot tell wheter RemoteRobotNode<RobotNodeRevolute> or another type is used
+     * This just does not work. because you cannot tell wheter RemoteRobotNode<RobotNodeRevolute> or another type is used
      * perhaps you can infer the actual RobotNodeType somehow. Until now we just check for names which is
      * much faster!
      *
@@ -255,6 +255,7 @@ VirtualRobot::RobotNodePtr RemoteRobot::createLocalNode(SharedRobotNodeInterface
 
 VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
 {
+    //ARMARX_IMPORTANT_S << "RemoteRobot local clone" << flush;
     boost::recursive_mutex::scoped_lock cloneLock(m);
     std::string robotType = getName();
     std::string robotName = getName();
@@ -263,7 +264,6 @@ VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
     //RobotNodePtr
     SharedRobotNodeInterfacePrx root = _robot->getRootNode();
 
-
     std::vector<VirtualRobot::RobotNodePtr> allNodes;
     std::map< VirtualRobot::RobotNodePtr, std::vector<std::string> > childrenMap;
 
@@ -276,13 +276,14 @@ VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
         return VirtualRobot::RobotPtr();
     }
 
-    // clone rns
+   // clone rns
    std::vector<std::string> rns = _robot->getRobotNodeSets();
    for (size_t i=0;i<rns.size();i++)
    {
       RobotNodeSetInfoPtr rnsInfo = _robot->getRobotNodeSet(rns[i]);
       RobotNodeSet::createRobotNodeSet(robo,rnsInfo->name,rnsInfo->names,rnsInfo->rootName,rnsInfo->tcpName,true);
    }
+   //ARMARX_IMPORTANT_S << "RemoteRobot local clone end" << flush;
 
     return robo;
 }
-- 
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