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Lock ocean current calculation function #213

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merged 3 commits into from
Feb 23, 2022
Merged

Lock ocean current calculation function #213

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beaf46d
lock calculateoceancurrent function
woensug-choi Feb 21, 2022
8aa836d
fix for ci
woensug-choi Feb 21, 2022
32c4955
additional lock to UpdateDatabase
woensug-choi Feb 22, 2022
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4 changes: 4 additions & 0 deletions .../dave_gazebo_model_plugins/include/dave_gazebo_model_plugins/ocean_current_model_plugin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include <string>
#include <vector>
#include <thread>
#include <mutex>
#include "ros/callback_queue.h"
#include "ros/subscribe_options.h"

Expand Down Expand Up @@ -108,6 +109,9 @@ namespace gazebo
/// \brief A thread the keeps running the rosQueue
private: std::thread databaseSubQueueThread;

/// \brief A thread mutex to lock
private: std::mutex lock_;

/// \brief Period after which we should publish a message via ROS.
private: gazebo::common::Time rosPublishPeriod;

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8 changes: 8 additions & 0 deletions gazebo/dave_gazebo_model_plugins/src/ocean_current_model_plugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -250,6 +250,8 @@ void TransientCurrentPlugin::Update(const gazebo::common::UpdateInfo &)
void TransientCurrentPlugin::UpdateDatabase(
const dave_gazebo_ros_plugins::StratifiedCurrentDatabase::ConstPtr &_msg)
{
this->lock_.lock();

this->database.clear();
for (int i = 0; i < _msg->depths.size(); i++)
{
Expand Down Expand Up @@ -299,11 +301,15 @@ void TransientCurrentPlugin::UpdateDatabase(
this->world_start_time[3] = _msg->worldStartTimeHour;
this->world_start_time[4] = _msg->worldStartTimeMinute;
}

this->lock_.unlock();
}

/////////////////////////////////////////////////
void TransientCurrentPlugin::CalculateOceanCurrent()
{
this->lock_.lock();

// Update vehicle position
double vehicleDepth = - this->model->WorldPose().Pos().Z();

Expand Down Expand Up @@ -442,6 +448,8 @@ void TransientCurrentPlugin::CalculateOceanCurrent()
// Update time stamp
this->lastUpdate = time;
}

this->lock_.unlock();
}

/////////////////////////////////////////////////
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