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Fix guirunner timing #1073

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Merged
merged 1 commit into from
Sep 30, 2021
Merged

Fix guirunner timing #1073

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45 changes: 30 additions & 15 deletions src/gui/GuiRunner.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,10 @@ class ignition::gazebo::GuiRunner::Implementation
/// \brief Update the plugins.
public: void UpdatePlugins();

/// \brief Process new state information.
/// \param[in] _msg Message containing new state.
public: void ProcessState(const msgs::SerializedStepMap &_msg);

/// \brief Entity-component manager.
public: gazebo::EntityComponentManager ecm;

Expand All @@ -59,6 +63,9 @@ class ignition::gazebo::GuiRunner::Implementation

/// \brief The plugin update thread..
public: std::thread updateThread;

/// \brief True if the initial state has been received and processed.
public: bool receivedInitialState{false};
};

/////////////////////////////////////////////////
Expand Down Expand Up @@ -146,6 +153,10 @@ void GuiRunner::RequestState()
ignition::msgs::StringMsg req;
req.set_data(reqSrv);

// Subscribe to periodic updates.
this->dataPtr->node.Subscribe(this->dataPtr->stateTopic,
&GuiRunner::OnState, this);

// send async state request
this->dataPtr->node.Request(this->dataPtr->stateTopic + "_async", req);
}
Expand All @@ -160,37 +171,41 @@ void GuiRunner::OnPluginAdded(const QString &)
/////////////////////////////////////////////////
void GuiRunner::OnStateAsyncService(const msgs::SerializedStepMap &_res)
{
this->OnState(_res);
this->dataPtr->ProcessState(_res);
this->dataPtr->receivedInitialState = true;

// todo(anyone) store reqSrv string in a member variable and use it here
// and in RequestState()
std::string id = std::to_string(gui::App()->applicationPid());
std::string reqSrv =
this->dataPtr->node.Options().NameSpace() + "/" + id + "/state_async";
this->dataPtr->node.UnadvertiseSrv(reqSrv);

// Only subscribe to periodic updates after receiving initial state
if (this->dataPtr->node.SubscribedTopics().empty())
{
this->dataPtr->node.Subscribe(this->dataPtr->stateTopic,
&GuiRunner::OnState, this);
}
}

/////////////////////////////////////////////////
void GuiRunner::OnState(const msgs::SerializedStepMap &_msg)
{
IGN_PROFILE_THREAD_NAME("GuiRunner::OnState");
// Only process state updates after initial state has been received.
if (!this->dataPtr->receivedInitialState)
return;
this->dataPtr->ProcessState(_msg);
}

/////////////////////////////////////////////////
void GuiRunner::Implementation::ProcessState(
const msgs::SerializedStepMap &_msg)
{
IGN_PROFILE_THREAD_NAME("GuiRunner::ProcessState");
IGN_PROFILE("GuiRunner::Update");

std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
this->dataPtr->ecm.SetState(_msg.state());
std::lock_guard<std::mutex> lock(this->updateMutex);
this->ecm.SetState(_msg.state());

// Update all plugins
this->dataPtr->updateInfo = convert<UpdateInfo>(_msg.stats());
this->dataPtr->UpdatePlugins();
this->dataPtr->ecm.ClearNewlyCreatedEntities();
this->dataPtr->ecm.ProcessRemoveEntityRequests();
this->updateInfo = convert<UpdateInfo>(_msg.stats());
this->UpdatePlugins();
this->ecm.ClearNewlyCreatedEntities();
this->ecm.ProcessRemoveEntityRequests();
}

/////////////////////////////////////////////////
Expand Down