nemo.cpp: deadlock when calling stop during synchronization removed

src/MeasurementComplexItem/MeasurementComplexItem.cc

 #include "MeasurementComplexItem.h"
 
+#include "AreaData.h"
 #include "CircularGenerator.h"
 #include "LinearGenerator.h"
 #include "NemoInterface.h"

src/MeasurementComplexItem/MeasurementComplexItem.h

@@ -9,9 +9,9 @@
 #include "QGCQGeoCoordinate.h"
 #include "SettingsFact.h"
 
-#include "AreaData.h"
 #include "geometry/ProgressArray.h"
 
+class AreaData;
 class RoutingThread;
 class RoutingResult;
 

src/MeasurementComplexItem/NemoInterface.h

@@ -13,8 +13,6 @@
 #include "TilePtrArray.h"
 #include "geometry/ProgressArray.h"
 
-// Singelton class used to interface measurement devices implementing the nemo
-// interface.
 class NemoInterface : public QObject {
   Q_OBJECT
   class Impl;

src/MeasurementComplexItem/geometry/MeasurementArea.cc

@@ -15,6 +15,8 @@
 #include "QGCLoggingCategory.h"
 #include "QmlObjectListHelper.h"
 
+#include "MeasurementComplexItem/nemo_interface/MeasurementTile.h"
+
 #ifndef MAX_TILES
 #define MAX_TILES 1000
 #endif
@@ -602,27 +604,6 @@ void MeasurementArea::setState(MeasurementArea::STATE s) {
   }
 }
 
-void MeasurementArea::updateIds(const QList<TileDiff> &array) {
-  for (const auto &diff : array) {
-
-    auto it = _indexMap.find(diff.oldTile.id());
-
-    if (it != _indexMap.end()) {
-      int tileIndex = it->second;
-      auto *tile = _tiles->value<MeasurementTile *>(tileIndex);
-      if (diff.oldTile.coordinateList() == tile->coordinateList()) {
-        // Change id and update _tileMap.
-        const auto newId = diff.newTile.id();
-        tile->setId(newId);
-        _indexMap.erase(it);
-        auto ret = _indexMap.insert(std::make_pair(newId, tileIndex));
-        Q_ASSERT(ret.second == true /*insert success?*/);
-        Q_UNUSED(ret);
-      }
-    }
-  }
-}
-
 bool getTiles(const FPolygon &area, Length tileHeight, Length tileWidth,
               Area minTileArea, std::vector<FPolygon> &tiles,
               BoundingBox &bbox) {

src/MeasurementComplexItem/geometry/MeasurementArea.h

@@ -6,10 +6,8 @@
 #include <QTimer>
 
 #include "GeoArea.h"
-#include "MeasurementComplexItem/nemo_interface/MeasurementTile.h"
-#include "ProgressArray.h"
-#include "TileDiff.h"
 
+#include "ProgressArray.h"
 #include "SettingsFact.h"
 
 class MeasurementArea : public GeoArea {
@@ -61,7 +59,6 @@ signals:
   void progressChanged();
 
 public slots:
-  void updateIds(const QList<TileDiff> &array);
   void updateProgress(const ProgressArray &array);
   Q_INVOKABLE void randomProgress();
   Q_INVOKABLE void resetProgress();

src/MeasurementComplexItem/geometry/ProgressArray.h

@@ -2,7 +2,6 @@
 #define PROGRESSARRAY_H
 
 #include <QVector>
-#include <tuple>
 
 #include "comm/ros_bridge/include/messages/nemo_msgs/labeled_progress.h"
 

src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp

@@ -52,11 +52,7 @@ void TaskDispatcher::start() {
   ULock lk1(this->_mutex);
   if (!_running) {
     this->_running = true;
-    auto p = std::make_shared<std::promise<void>>();
-    _threadFuture = p->get_future();
-    QtConcurrent::run([this, p = std::move(p)]() mutable {
-      return this->run(std::move(*p));
-    });
+    QtConcurrent::run([this]() mutable { return this->run(); });
     lk1.unlock();
   }
 }
@@ -65,7 +61,6 @@ void TaskDispatcher::stop() {
   ULock lk1(this->_mutex);
   if (_running) {
     this->_running = false;
-    _threadFuture.wait();
     lk1.unlock();
   }
 }
@@ -92,7 +87,7 @@ std::size_t TaskDispatcher::pendingTasks() {
 
 bool TaskDispatcher::idle() { return this->pendingTasks() == 0; }
 
-void TaskDispatcher::run(std::promise<void> p) {
+void TaskDispatcher::run() {
   while (true) {
     ULock lk1(this->_mutex);
 
@@ -116,7 +111,6 @@ void TaskDispatcher::run(std::promise<void> p) {
       break;
     }
   }
-  p.set_value();
 }
 
 } // namespace nemo_interface

src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h

@@ -56,12 +56,11 @@ public:
   bool idle();
 
 protected:
-  void run(std::promise<void> p);
+  void run();
 
 private:
   std::deque<std::unique_ptr<Task>> _taskQueue;
   std::deque<std::promise<QVariant>> _promiseQueue;
-  std::future<void> _threadFuture;
   bool _running;
   std::mutex _mutex;
 };