Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
0dd18040
Commit
0dd18040
authored
Feb 04, 2021
by
Valentin Platzgummer
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
nemo.cpp: deadlock when calling stop during synchronization removed
parent
faf642f3
Changes
9
Hide whitespace changes
Inline
Side-by-side
Showing
9 changed files
with
107 additions
and
114 deletions
+107
-114
MeasurementComplexItem.cc
src/MeasurementComplexItem/MeasurementComplexItem.cc
+1
-0
MeasurementComplexItem.h
src/MeasurementComplexItem/MeasurementComplexItem.h
+1
-1
NemoInterface.cpp
src/MeasurementComplexItem/NemoInterface.cpp
+99
-75
NemoInterface.h
src/MeasurementComplexItem/NemoInterface.h
+0
-2
MeasurementArea.cc
src/MeasurementComplexItem/geometry/MeasurementArea.cc
+2
-21
MeasurementArea.h
src/MeasurementComplexItem/geometry/MeasurementArea.h
+1
-4
ProgressArray.h
src/MeasurementComplexItem/geometry/ProgressArray.h
+0
-1
TaskDispatcher.cpp
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp
+2
-8
TaskDispatcher.h
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h
+1
-2
No files found.
src/MeasurementComplexItem/MeasurementComplexItem.cc
View file @
0dd18040
#include "MeasurementComplexItem.h"
#include "MeasurementComplexItem.h"
#include "AreaData.h"
#include "CircularGenerator.h"
#include "CircularGenerator.h"
#include "LinearGenerator.h"
#include "LinearGenerator.h"
#include "NemoInterface.h"
#include "NemoInterface.h"
...
...
src/MeasurementComplexItem/MeasurementComplexItem.h
View file @
0dd18040
...
@@ -9,9 +9,9 @@
...
@@ -9,9 +9,9 @@
#include "QGCQGeoCoordinate.h"
#include "QGCQGeoCoordinate.h"
#include "SettingsFact.h"
#include "SettingsFact.h"
#include "AreaData.h"
#include "geometry/ProgressArray.h"
#include "geometry/ProgressArray.h"
class
AreaData
;
class
RoutingThread
;
class
RoutingThread
;
class
RoutingResult
;
class
RoutingResult
;
...
...
src/MeasurementComplexItem/NemoInterface.cpp
View file @
0dd18040
...
@@ -181,7 +181,7 @@ private:
...
@@ -181,7 +181,7 @@ private:
// Worker functions.
// Worker functions.
static
bool
static
bool
_callAddTiles
(
const
QVector
<
std
::
shared_ptr
<
const
Tile
>>
&
tileArray
,
_callAddTiles
(
const
QVector
<
std
::
shared_ptr
<
const
Tile
>>
&
tileArray
,
Dispatcher
&
d
,
Rosbridge
&
rb
);
Dispatcher
&
d
isp
,
Rosbridge
&
rb
);
static
bool
_callClearTiles
(
Dispatcher
&
d
,
Rosbridge
&
rb
);
static
bool
_callClearTiles
(
Dispatcher
&
d
,
Rosbridge
&
rb
);
static
ProgressArray
_callGetProgress
(
const
IDArray
&
pIdArray
,
Dispatcher
&
d
,
static
ProgressArray
_callGetProgress
(
const
IDArray
&
pIdArray
,
Dispatcher
&
d
,
Rosbridge
&
rb
);
Rosbridge
&
rb
);
...
@@ -880,9 +880,11 @@ void NemoInterface::Impl::_synchronize() {
...
@@ -880,9 +880,11 @@ void NemoInterface::Impl::_synchronize() {
if
(
!
synced
)
{
if
(
!
synced
)
{
auto
success
=
this
->
_clearTilesImpl
();
auto
success
=
this
->
_clearTilesImpl
();
if
(
!
success
)
{
if
(
!
success
)
{
Lock
lk
(
this
->
_m
);
Lock
lk1
(
this
->
_m
);
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
)
{
_doActionNotSafe
();
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
_doActionNotSafe
();
}
return
QVariant
(
false
);
return
QVariant
(
false
);
}
}
...
@@ -894,9 +896,11 @@ void NemoInterface::Impl::_synchronize() {
...
@@ -894,9 +896,11 @@ void NemoInterface::Impl::_synchronize() {
success
=
this
->
_addTilesImpl
(
pTileArray
,
pIdArray
);
success
=
this
->
_addTilesImpl
(
pTileArray
,
pIdArray
);
if
(
!
success
)
{
if
(
!
success
)
{
Lock
lk
(
this
->
_m
);
Lock
lk2
(
this
->
_m
);
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
)
{
_doActionNotSafe
();
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
_doActionNotSafe
();
}
return
QVariant
(
false
);
return
QVariant
(
false
);
}
}
}
else
{
}
else
{
...
@@ -914,12 +918,14 @@ void NemoInterface::Impl::_synchronize() {
...
@@ -914,12 +918,14 @@ void NemoInterface::Impl::_synchronize() {
if
(
!
ret
)
{
if
(
!
ret
)
{
Lock
lk
(
this
->
_m
);
Lock
lk
(
this
->
_m
);
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
)
{
this
->
_doActionNotSafe
();
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
lk
.
unlock
();
this
->
_doActionNotSafe
();
this
->
_setWarningString
(
"Getting progress failed."
);
lk
.
unlock
();
qCDebug
(
NemoInterfaceLog
)
this
->
_setWarningString
(
"Getting progress failed."
);
<<
"_addTilesImpl(): _updateProgress failed: unknown id."
;
qCDebug
(
NemoInterfaceLog
)
<<
"_addTilesImpl(): _updateProgress failed: unknown id."
;
}
return
QVariant
(
false
);
return
QVariant
(
false
);
}
}
}
}
...
@@ -976,7 +982,6 @@ void NemoInterface::Impl::_doActionNotSafe() {
...
@@ -976,7 +982,6 @@ void NemoInterface::Impl::_doActionNotSafe() {
static
bool
resetDone
=
false
;
static
bool
resetDone
=
false
;
switch
(
this
->
_state
)
{
switch
(
this
->
_state
)
{
case
STATE
:
:
STOPPED
:
{
case
STATE
:
:
STOPPED
:
{
std
::
promise
<
void
>
p
;
INVM
(
this
->
_parent
,
([
this
]()
mutable
{
INVM
(
this
->
_parent
,
([
this
]()
mutable
{
this
->
_timeoutTimer
.
stop
();
this
->
_timeoutTimer
.
stop
();
this
->
_restartTimer
.
stop
();
this
->
_restartTimer
.
stop
();
...
@@ -991,7 +996,6 @@ void NemoInterface::Impl::_doActionNotSafe() {
...
@@ -991,7 +996,6 @@ void NemoInterface::Impl::_doActionNotSafe() {
_setInfoStringNotSafe
(
""
);
_setInfoStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
}
break
;
}
break
;
case
STATE
:
:
START_BRIDGE
:
{
case
STATE
:
:
START_BRIDGE
:
{
...
@@ -999,14 +1003,20 @@ void NemoInterface::Impl::_doActionNotSafe() {
...
@@ -999,14 +1003,20 @@ void NemoInterface::Impl::_doActionNotSafe() {
([
this
]()
mutable
{
this
->
_restartTimer
.
start
(
RESTART_INTERVAl
);
}))
([
this
]()
mutable
{
this
->
_restartTimer
.
start
(
RESTART_INTERVAl
);
}))
this
->
_pRosbridge
->
start
();
this
->
_pRosbridge
->
start
();
_setInfoStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
}
break
;
}
break
;
case
STATE
:
:
WEBSOCKET_DETECTED
:
case
STATE
:
:
WEBSOCKET_DETECTED
:
resetDone
=
false
;
resetDone
=
false
;
this
->
_setStateNotSafe
(
STATE
::
TRY_SETUP
);
this
->
_setStateNotSafe
(
STATE
::
TRY_SETUP
);
this
->
_doActionNotSafe
();
this
->
_doActionNotSafe
();
_setInfoStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
break
;
break
;
case
STATE
:
:
TRY_SETUP
:
case
STATE
:
:
TRY_SETUP
:
this
->
_doSetup
();
this
->
_doSetup
();
_setInfoStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
break
;
break
;
case
STATE
:
:
READY
:
{
case
STATE
:
:
READY
:
{
INVM
(
this
->
_parent
,
INVM
(
this
->
_parent
,
...
@@ -1023,10 +1033,13 @@ void NemoInterface::Impl::_doActionNotSafe() {
...
@@ -1023,10 +1033,13 @@ void NemoInterface::Impl::_doActionNotSafe() {
case
STATE
:
:
USER_SYNC
:
case
STATE
:
:
USER_SYNC
:
case
STATE
:
:
SYS_SYNC
:
case
STATE
:
:
SYS_SYNC
:
case
STATE
:
:
SYNC_ERROR
:
case
STATE
:
:
SYNC_ERROR
:
_setInfoStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
break
;
break
;
case
STATE
:
:
HEARTBEAT_TIMEOUT
:
{
case
STATE
:
:
HEARTBEAT_TIMEOUT
:
{
INVM
(
this
->
_parent
,
([
this
]()
mutable
{
this
->
_syncTimer
.
stop
();
}))
INVM
(
this
->
_parent
,
([
this
]()
mutable
{
this
->
_syncTimer
.
stop
();
}))
_setInfoStringNotSafe
(
""
);
_setWarningStringNotSafe
(
""
);
}
break
;
}
break
;
case
STATE
:
:
WEBSOCKET_TIMEOUT
:
{
case
STATE
:
:
WEBSOCKET_TIMEOUT
:
{
INVM
(
this
->
_parent
,
([
this
]()
mutable
{
INVM
(
this
->
_parent
,
([
this
]()
mutable
{
...
@@ -1049,7 +1062,7 @@ void NemoInterface::Impl::_doActionNotSafe() {
...
@@ -1049,7 +1062,7 @@ void NemoInterface::Impl::_doActionNotSafe() {
}
}
bool
NemoInterface
::
Impl
::
_callAddTiles
(
bool
NemoInterface
::
Impl
::
_callAddTiles
(
const
QVector
<
std
::
shared_ptr
<
const
Tile
>>
&
tileArray
,
Dispatcher
&
d
,
const
QVector
<
std
::
shared_ptr
<
const
Tile
>>
&
tileArray
,
Dispatcher
&
d
isp
,
Rosbridge
&
rb
)
{
Rosbridge
&
rb
)
{
// qDebug() << "_callAddTiles called";
// qDebug() << "_callAddTiles called";
...
@@ -1091,14 +1104,14 @@ bool NemoInterface::Impl::_callAddTiles(
...
@@ -1091,14 +1104,14 @@ bool NemoInterface::Impl::_callAddTiles(
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
d
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
qCWarning
(
NemoInterfaceLog
)
...
@@ -1149,14 +1162,14 @@ bool NemoInterface::Impl::_callRemoveTiles(const IDArray &pIdArray,
...
@@ -1149,14 +1162,14 @@ bool NemoInterface::Impl::_callRemoveTiles(const IDArray &pIdArray,
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
disp
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
qCWarning
(
NemoInterfaceLog
)
...
@@ -1188,14 +1201,14 @@ bool NemoInterface::Impl::_callClearTiles(Dispatcher &disp, Rosbridge &rb) {
...
@@ -1188,14 +1201,14 @@ bool NemoInterface::Impl::_callClearTiles(Dispatcher &disp, Rosbridge &rb) {
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
disp
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
<<
"Websocket not responding to request."
;
qCWarning
(
NemoInterfaceLog
)
<<
"Websocket not responding to request."
;
...
@@ -1251,14 +1264,14 @@ ProgressArray NemoInterface::Impl::_callGetProgress(const IDArray &pIdArray,
...
@@ -1251,14 +1264,14 @@ ProgressArray NemoInterface::Impl::_callGetProgress(const IDArray &pIdArray,
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
disp
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
qCWarning
(
NemoInterfaceLog
)
...
@@ -1302,14 +1315,14 @@ ProgressArray NemoInterface::Impl::_callGetAllProgress(Dispatcher &disp,
...
@@ -1302,14 +1315,14 @@ ProgressArray NemoInterface::Impl::_callGetAllProgress(Dispatcher &disp,
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
disp
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
qCWarning
(
NemoInterfaceLog
)
...
@@ -1368,14 +1381,14 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
...
@@ -1368,14 +1381,14 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
disp
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
qCWarning
(
NemoInterfaceLog
)
...
@@ -1386,7 +1399,7 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
...
@@ -1386,7 +1399,7 @@ NemoInterface::Impl::_callGetAllTiles(Dispatcher &disp, Rosbridge &rb) {
return
*
future_response
.
get
();
return
*
future_response
.
get
();
}
}
QString
NemoInterface
::
Impl
::
_callGetVersion
(
Dispatcher
&
d
,
Rosbridge
&
rb
)
{
QString
NemoInterface
::
Impl
::
_callGetVersion
(
Dispatcher
&
d
isp
,
Rosbridge
&
rb
)
{
// create response handler.
// create response handler.
typedef
QString
ResponseType
;
typedef
QString
ResponseType
;
...
@@ -1412,14 +1425,14 @@ QString NemoInterface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
...
@@ -1412,14 +1425,14 @@ QString NemoInterface::Impl::_callGetVersion(Dispatcher &d, Rosbridge &rb) {
// wait for response.
// wait for response.
auto
tStart
=
hrc
::
now
();
auto
tStart
=
hrc
::
now
();
bool
abort
=
true
;
bool
abort
=
true
;
do
{
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
&&
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
100
));
!
disp
.
isInterruptionRequested
())
{
auto
status
=
future_response
.
wait_for
(
std
::
chrono
::
milliseconds
(
10
));
if
(
status
==
std
::
future_status
::
ready
)
{
if
(
status
==
std
::
future_status
::
ready
)
{
abort
=
false
;
abort
=
false
;
break
;
break
;
}
}
}
while
(
hrc
::
now
()
-
tStart
<
maxResponseTime
||
}
d
.
isInterruptionRequested
());
if
(
abort
)
{
if
(
abort
)
{
qCWarning
(
NemoInterfaceLog
)
qCWarning
(
NemoInterfaceLog
)
...
@@ -1653,36 +1666,42 @@ bool NemoInterface::Impl::_addTilesImpl(
...
@@ -1653,36 +1666,42 @@ bool NemoInterface::Impl::_addTilesImpl(
auto
ret
=
this
->
_addTilesRemote
(
*
pTileArray
);
auto
ret
=
this
->
_addTilesRemote
(
*
pTileArray
);
if
(
!
ret
)
{
if
(
!
ret
)
{
Lock
lk
(
this
->
_m
);
Lock
lk
(
this
->
_m
);
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
||
this
->
_state
==
STATE
::
USER_SYNC
)
{
this
->
_doActionNotSafe
();
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
lk
.
unlock
();
this
->
_doActionNotSafe
();
this
->
_setWarningString
(
"Adding tiles failed."
);
lk
.
unlock
();
qCDebug
(
NemoInterfaceLog
)
<<
"_addTilesImpl(): _addTilesRemote return "
this
->
_setWarningString
(
"Adding tiles failed."
);
"false: different tiles with same id."
;
qCDebug
(
NemoInterfaceLog
)
<<
"_addTilesImpl(): _addTilesRemote return "
"false: different tiles with same id."
;
}
return
false
;
return
false
;
}
}
// fetch progress
// fetch progress
auto
array
=
this
->
_callGetProgress
(
*
pIdArray
,
disp
,
*
rb
);
auto
array
=
this
->
_callGetProgress
(
*
pIdArray
,
disp
,
*
rb
);
if
(
array
.
size
()
!=
pIdArray
->
size
())
{
if
(
array
.
size
()
!=
pIdArray
->
size
())
{
Lock
lk
(
this
->
_m
);
Lock
lk1
(
this
->
_m
);
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
||
this
->
_state
==
STATE
::
USER_SYNC
)
{
this
->
_doActionNotSafe
();
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
lk
.
unlock
();
this
->
_doActionNotSafe
();
this
->
_setWarningString
(
"Getting progress failed. This might "
lk1
.
unlock
();
"indicate a poor connection."
);
this
->
_setWarningString
(
"Getting progress failed. This might "
"indicate a poor connection."
);
}
return
false
;
return
false
;
}
}
ret
=
this
->
_updateProgress
(
array
);
ret
=
this
->
_updateProgress
(
array
);
if
(
!
ret
)
{
if
(
!
ret
)
{
Lock
lk
(
this
->
_m
);
Lock
lk2
(
this
->
_m
);
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
||
this
->
_state
==
STATE
::
USER_SYNC
)
{
this
->
_doActionNotSafe
();
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
lk
.
unlock
();
this
->
_doActionNotSafe
();
this
->
_setWarningString
(
"Getting progress failed."
);
lk2
.
unlock
();
qCDebug
(
NemoInterfaceLog
)
this
->
_setWarningString
(
"Getting progress failed."
);
<<
"_addTilesImpl(): _updateProgress failed: unknown id."
;
qCDebug
(
NemoInterfaceLog
)
<<
"_addTilesImpl(): _updateProgress failed: unknown id."
;
}
return
false
;
return
false
;
}
}
...
@@ -1697,13 +1716,16 @@ bool NemoInterface::Impl::_removeTilesImpl(
...
@@ -1697,13 +1716,16 @@ bool NemoInterface::Impl::_removeTilesImpl(
auto
success
=
this
->
_callRemoveTiles
(
*
pIdArray
,
disp
,
*
rb
);
auto
success
=
this
->
_callRemoveTiles
(
*
pIdArray
,
disp
,
*
rb
);
if
(
!
success
)
{
if
(
!
success
)
{
Lock
lk
(
this
->
_m
);
Lock
lk
(
this
->
_m
);
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
||
this
->
_state
==
STATE
::
USER_SYNC
)
{
this
->
_doActionNotSafe
();
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
lk
.
unlock
();
this
->
_doActionNotSafe
();
this
->
_setWarningString
(
"Removing tiles failed. This might "
lk
.
unlock
();
"indicate a poor connection."
);
this
->
_setWarningString
(
"Removing tiles failed. This might "
"indicate a poor connection."
);
}
return
false
;
return
false
;
}
}
this
->
_removeTilesRemote
(
*
pIdArray
);
this
->
_removeTilesRemote
(
*
pIdArray
);
return
true
;
return
true
;
...
@@ -1716,11 +1738,13 @@ bool NemoInterface::Impl::_clearTilesImpl() {
...
@@ -1716,11 +1738,13 @@ bool NemoInterface::Impl::_clearTilesImpl() {
auto
success
=
this
->
_callClearTiles
(
disp
,
*
rb
);
auto
success
=
this
->
_callClearTiles
(
disp
,
*
rb
);
if
(
!
success
)
{
if
(
!
success
)
{
Lock
lk
(
this
->
_m
);
Lock
lk
(
this
->
_m
);
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
if
(
this
->
_state
==
STATE
::
SYS_SYNC
||
this
->
_state
==
STATE
::
USER_SYNC
)
{
this
->
_doActionNotSafe
();
this
->
_setStateNotSafe
(
STATE
::
SYNC_ERROR
);
lk
.
unlock
();
this
->
_doActionNotSafe
();
this
->
_setWarningString
(
"Clear tiles failed. This might "
lk
.
unlock
();
"indicate a poor connection."
);
this
->
_setWarningString
(
"Clear tiles failed. This might "
"indicate a poor connection."
);
}
return
false
;
return
false
;
}
}
this
->
_clearTilesRemote
();
this
->
_clearTilesRemote
();
...
...
src/MeasurementComplexItem/NemoInterface.h
View file @
0dd18040
...
@@ -13,8 +13,6 @@
...
@@ -13,8 +13,6 @@
#include "TilePtrArray.h"
#include "TilePtrArray.h"
#include "geometry/ProgressArray.h"
#include "geometry/ProgressArray.h"
// Singelton class used to interface measurement devices implementing the nemo
// interface.
class
NemoInterface
:
public
QObject
{
class
NemoInterface
:
public
QObject
{
Q_OBJECT
Q_OBJECT
class
Impl
;
class
Impl
;
...
...
src/MeasurementComplexItem/geometry/MeasurementArea.cc
View file @
0dd18040
...
@@ -15,6 +15,8 @@
...
@@ -15,6 +15,8 @@
#include "QGCLoggingCategory.h"
#include "QGCLoggingCategory.h"
#include "QmlObjectListHelper.h"
#include "QmlObjectListHelper.h"
#include "MeasurementComplexItem/nemo_interface/MeasurementTile.h"
#ifndef MAX_TILES
#ifndef MAX_TILES
#define MAX_TILES 1000
#define MAX_TILES 1000
#endif
#endif
...
@@ -602,27 +604,6 @@ void MeasurementArea::setState(MeasurementArea::STATE s) {
...
@@ -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
,
bool
getTiles
(
const
FPolygon
&
area
,
Length
tileHeight
,
Length
tileWidth
,
Area
minTileArea
,
std
::
vector
<
FPolygon
>
&
tiles
,
Area
minTileArea
,
std
::
vector
<
FPolygon
>
&
tiles
,
BoundingBox
&
bbox
)
{
BoundingBox
&
bbox
)
{
...
...
src/MeasurementComplexItem/geometry/MeasurementArea.h
View file @
0dd18040
...
@@ -6,10 +6,8 @@
...
@@ -6,10 +6,8 @@
#include <QTimer>
#include <QTimer>
#include "GeoArea.h"
#include "GeoArea.h"
#include "MeasurementComplexItem/nemo_interface/MeasurementTile.h"
#include "ProgressArray.h"
#include "TileDiff.h"
#include "ProgressArray.h"
#include "SettingsFact.h"
#include "SettingsFact.h"
class
MeasurementArea
:
public
GeoArea
{
class
MeasurementArea
:
public
GeoArea
{
...
@@ -61,7 +59,6 @@ signals:
...
@@ -61,7 +59,6 @@ signals:
void
progressChanged
();
void
progressChanged
();
public
slots
:
public
slots
:
void
updateIds
(
const
QList
<
TileDiff
>
&
array
);
void
updateProgress
(
const
ProgressArray
&
array
);
void
updateProgress
(
const
ProgressArray
&
array
);
Q_INVOKABLE
void
randomProgress
();
Q_INVOKABLE
void
randomProgress
();
Q_INVOKABLE
void
resetProgress
();
Q_INVOKABLE
void
resetProgress
();
...
...
src/MeasurementComplexItem/geometry/ProgressArray.h
View file @
0dd18040
...
@@ -2,7 +2,6 @@
...
@@ -2,7 +2,6 @@
#define PROGRESSARRAY_H
#define PROGRESSARRAY_H
#include <QVector>
#include <QVector>
#include <tuple>
#include "comm/ros_bridge/include/messages/nemo_msgs/labeled_progress.h"
#include "comm/ros_bridge/include/messages/nemo_msgs/labeled_progress.h"
...
...
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp
View file @
0dd18040
...
@@ -52,11 +52,7 @@ void TaskDispatcher::start() {
...
@@ -52,11 +52,7 @@ void TaskDispatcher::start() {
ULock
lk1
(
this
->
_mutex
);
ULock
lk1
(
this
->
_mutex
);
if
(
!
_running
)
{
if
(
!
_running
)
{
this
->
_running
=
true
;
this
->
_running
=
true
;
auto
p
=
std
::
make_shared
<
std
::
promise
<
void
>>
();
QtConcurrent
::
run
([
this
]()
mutable
{
return
this
->
run
();
});
_threadFuture
=
p
->
get_future
();
QtConcurrent
::
run
([
this
,
p
=
std
::
move
(
p
)]()
mutable
{
return
this
->
run
(
std
::
move
(
*
p
));
});
lk1
.
unlock
();
lk1
.
unlock
();
}
}
}
}
...
@@ -65,7 +61,6 @@ void TaskDispatcher::stop() {
...
@@ -65,7 +61,6 @@ void TaskDispatcher::stop() {
ULock
lk1
(
this
->
_mutex
);
ULock
lk1
(
this
->
_mutex
);
if
(
_running
)
{
if
(
_running
)
{
this
->
_running
=
false
;
this
->
_running
=
false
;
_threadFuture
.
wait
();
lk1
.
unlock
();
lk1
.
unlock
();
}
}
}
}
...
@@ -92,7 +87,7 @@ std::size_t TaskDispatcher::pendingTasks() {
...
@@ -92,7 +87,7 @@ std::size_t TaskDispatcher::pendingTasks() {
bool
TaskDispatcher
::
idle
()
{
return
this
->
pendingTasks
()
==
0
;
}
bool
TaskDispatcher
::
idle
()
{
return
this
->
pendingTasks
()
==
0
;
}
void
TaskDispatcher
::
run
(
std
::
promise
<
void
>
p
)
{
void
TaskDispatcher
::
run
()
{
while
(
true
)
{
while
(
true
)
{
ULock
lk1
(
this
->
_mutex
);
ULock
lk1
(
this
->
_mutex
);
...
@@ -116,7 +111,6 @@ void TaskDispatcher::run(std::promise<void> p) {
...
@@ -116,7 +111,6 @@ void TaskDispatcher::run(std::promise<void> p) {
break
;
break
;
}
}
}
}
p
.
set_value
();
}
}
}
// namespace nemo_interface
}
// namespace nemo_interface
src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h
View file @
0dd18040
...
@@ -56,12 +56,11 @@ public:
...
@@ -56,12 +56,11 @@ public:
bool
idle
();
bool
idle
();
protected:
protected:
void
run
(
std
::
promise
<
void
>
p
);
void
run
();
private:
private:
std
::
deque
<
std
::
unique_ptr
<
Task
>>
_taskQueue
;
std
::
deque
<
std
::
unique_ptr
<
Task
>>
_taskQueue
;
std
::
deque
<
std
::
promise
<
QVariant
>>
_promiseQueue
;
std
::
deque
<
std
::
promise
<
QVariant
>>
_promiseQueue
;
std
::
future
<
void
>
_threadFuture
;
bool
_running
;
bool
_running
;
std
::
mutex
_mutex
;
std
::
mutex
_mutex
;
};
};
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment