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Prevent crash on Plotting plugin with mutex #747

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merged 3 commits into from
Apr 28, 2021
Merged

Prevent crash on Plotting plugin with mutex #747

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dd4eea9
Prevent crash on Plotting plugin with mutex
chapulina Apr 8, 2021
5783d1a
Merge branch 'ign-gazebo5' into chapulina/5/plot_mutex
chapulina Apr 27, 2021
87c5980
style
chapulina Apr 27, 2021
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16 changes: 14 additions & 2 deletions src/gui/plugins/plotting/Plotting.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,9 @@ namespace ignition::gazebo
/// map key: string contains EntityID + "," + ComponentID
public: std::map<std::string,
std::shared_ptr<PlotComponent>> components;

/// \brief Mutex to protect the components map.
public: std::recursive_mutex componentsMutex;
};

class PlotComponentPrivate
Expand Down Expand Up @@ -229,13 +232,16 @@ void Plotting::LoadConfig(const tinyxml2::XMLElement *)
//////////////////////////////////////////////////
void Plotting::SetData(std::string _Id, const ignition::math::Vector3d &_vector)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
this->dataPtr->components[_Id]->SetAttributeValue("x", _vector.X());
this->dataPtr->components[_Id]->SetAttributeValue("y", _vector.Y());
this->dataPtr->components[_Id]->SetAttributeValue("z", _vector.Z());
}

//////////////////////////////////////////////////
void Plotting::SetData(std::string _Id, const ignition::msgs::Light &_light)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
if (_light.has_specular())
{
this->dataPtr->components[_Id]->SetAttributeValue("specularR",
Expand Down Expand Up @@ -290,6 +296,7 @@ void Plotting::SetData(std::string _Id, const ignition::msgs::Light &_light)
//////////////////////////////////////////////////
void Plotting::SetData(std::string _Id, const ignition::math::Pose3d &_pose)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
this->dataPtr->components[_Id]->SetAttributeValue("x", _pose.Pos().X());
this->dataPtr->components[_Id]->SetAttributeValue("y", _pose.Pos().Y());
this->dataPtr->components[_Id]->SetAttributeValue("z", _pose.Pos().Z());
Expand All @@ -302,6 +309,7 @@ void Plotting::SetData(std::string _Id, const ignition::math::Pose3d &_pose)
//////////////////////////////////////////////////
void Plotting::SetData(std::string _Id, const sdf::Physics &_physics)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
this->dataPtr->components[_Id]->SetAttributeValue("stepSize",
_physics.MaxStepSize());
this->dataPtr->components[_Id]->SetAttributeValue("realTimeFactor",
Expand All @@ -311,6 +319,7 @@ void Plotting::SetData(std::string _Id, const sdf::Physics &_physics)
//////////////////////////////////////////////////
void Plotting::SetData(std::string _Id, const double &_value)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
this->dataPtr->components[_Id]->SetAttributeValue("value", _value);
}

Expand All @@ -321,6 +330,7 @@ void Plotting::RegisterChartToComponent(uint64_t _entity, uint64_t _typeId,
std::string _attribute,
int _chart)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
std::string Id = std::to_string(_entity) + "," + std::to_string(_typeId);

if (this->dataPtr->components.count(Id) == 0)
Expand All @@ -336,6 +346,7 @@ void Plotting::RegisterChartToComponent(uint64_t _entity, uint64_t _typeId,
void Plotting::UnRegisterChartFromComponent(uint64_t _entity, uint64_t _typeId,
std::string _attribute, int _chart)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
std::string id = std::to_string(_entity) + "," + std::to_string(_typeId);
igndbg << "UnRegister [" << id << "]" << std::endl;

Expand All @@ -345,7 +356,7 @@ void Plotting::UnRegisterChartFromComponent(uint64_t _entity, uint64_t _typeId,
this->dataPtr->components[id]->UnRegisterChart(_attribute, _chart);

if (!this->dataPtr->components[id]->HasCharts())
this->dataPtr->components.erase(id);
this->dataPtr->components.erase(id);
}

//////////////////////////////////////////////////
Expand All @@ -362,9 +373,10 @@ std::string Plotting::ComponentName(const uint64_t &_typeId)
}

//////////////////////////////////////////////////
void Plotting ::Update(const ignition::gazebo::UpdateInfo &_info,
void Plotting::Update(const ignition::gazebo::UpdateInfo &_info,
ignition::gazebo::EntityComponentManager &_ecm)
{
std::lock_guard<std::recursive_mutex> lock(this->dataPtr->componentsMutex);
for (auto component : this->dataPtr->components)
{
auto entity = component.second->Entity();
Expand Down