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Protected public rtabmap methods with a mutex (to be safe to call when rtabmap thread is started)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@734 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-15 16:43:40 +00:00
parent 0452aec181
commit 1041ddd8a5
3 changed files with 61 additions and 43 deletions
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28
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -85,18 +85,24 @@ public:
const std::string & getWorkingDir() const {return _wDir;}
int getLoopClosureId() const;
int getRetrievedId() const;
int getLastLocationId() const;
int getLastLocationId();
float getLcHypValue() const {return _lastLcHypothesisValue;}
std::list<int> getWM() const; // working memory
std::set<int> getSTM() const; // short-term memory
int getWMSize() const; // working memory size
int getSTMSize() const; // short-term memory size
std::map<int, int> getWeights() const;
int getTotalMemSize() const;
std::list<int> getWM(); // working memory
std::set<int> getSTM(); // short-term memory
int getWMSize(); // working memory size
int getSTMSize(); // short-term memory size
std::map<int, int> getWeights();
int getTotalMemSize();
double getLastProcessTime() const {return _lastProcessTime;};
void setTimeThreshold(float maxTimeAllowed); // in ms
void generateGraph(const std::string & path) const;
void generateGraph(const std::string & path);
void resetMemory(bool dbOverwritten = false);
void dumpPrediction();
void dumpData();
void updateParameters(const ParametersMap & parameters);
void setWorkingDirectory(std::string path);
void adjustLikelihood(std::map<int, float> & likelihood) const;
std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
@@ -110,18 +116,14 @@ private:
virtual void mainLoopKill();
virtual void mainLoopBegin();
void process();
void resetMemory(bool dbOverwritten = false);
void addImage(const Image & image);
void getImage(Image & image);
void setupLogFiles(bool overwrite = false);
void flushStatisticLogs();
void releaseAllStrategies();
void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
void dumpPrediction() const;
void dumpData();
void generateLocalGraph(const std::string & path, int id, int margin);
void parseParameters(const ParametersMap & parameters);
void setWorkingDirectory(std::string path);
void setDataBufferSize(int size);
private:
@@ -154,6 +156,8 @@ private:
UMutex _imageMutex;
USemaphore _imageAdded;
UMutex _threadMutex;
// Abstract classes containing all loop closure
// strategies for a type of signature or configuration.
EpipolarGeometry * _epipolarGeometry;

75
corelib/src/Rtabmap.cpp
View File

@@ -85,25 +85,7 @@ Rtabmap::Rtabmap() :
Rtabmap::~Rtabmap() {
UDEBUG("");
UEventsManager::removeHandler(this);
// Stop the thread first
join(true);
flushStatisticLogs();
if(_foutFloat)
{
fclose(_foutFloat);
_foutFloat = 0;
}
if(_foutInt)
{
fclose(_foutInt);
_foutInt = 0;
}
this->releaseAllStrategies();
this->close();
}
std::string Rtabmap::getVersion()
@@ -255,6 +237,7 @@ void Rtabmap::pushNewState(State newState, const ParametersMap & parameters)
void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
{
UScopeMutex s(&_threadMutex);
if(this->isRunning())
{
pushNewState(kStateChangingParameters, parameters);
@@ -267,6 +250,12 @@ void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
{
if(deleteMemory)
{
// Set the working directory before
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
this->resetMemory(true);
}
@@ -277,6 +266,7 @@ void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
void Rtabmap::init(const std::string & configFile, bool deleteMemory)
{
UScopeMutex s(&_threadMutex);
// fill ctrl struct with values from the configuration file
ParametersMap param;// = Parameters::defaultParameters;
@@ -430,8 +420,9 @@ int Rtabmap::getRetrievedId() const
return _retrievedId;
}
int Rtabmap::getLastLocationId() const
int Rtabmap::getLastLocationId()
{
UScopeMutex s(&_threadMutex);
int id = 0;
if(_memory && _memory->getLastSignature())
{
@@ -440,8 +431,9 @@ int Rtabmap::getLastLocationId() const
return id;
}
std::list<int> Rtabmap::getWM() const
std::list<int> Rtabmap::getWM()
{
UScopeMutex s(&_threadMutex);
std::list<int> mem;
if(_memory)
{
@@ -451,8 +443,9 @@ std::list<int> Rtabmap::getWM() const
return mem;
}
int Rtabmap::getWMSize() const
int Rtabmap::getWMSize()
{
UScopeMutex s(&_threadMutex);
if(_memory)
{
return _memory->getWorkingMem().size()-1; // remove virtual place
@@ -460,8 +453,9 @@ int Rtabmap::getWMSize() const
return 0;
}
std::map<int, int> Rtabmap::getWeights() const
std::map<int, int> Rtabmap::getWeights()
{
UScopeMutex s(&_threadMutex);
std::map<int, int> weights;
if(_memory)
{
@@ -471,8 +465,9 @@ std::map<int, int> Rtabmap::getWeights() const
return weights;
}
std::set<int> Rtabmap::getSTM() const
std::set<int> Rtabmap::getSTM()
{
UScopeMutex s(&_threadMutex);
std::set<int> mem;
if(_memory)
{
@@ -481,8 +476,9 @@ std::set<int> Rtabmap::getSTM() const
return mem;
}
int Rtabmap::getSTMSize() const
int Rtabmap::getSTMSize()
{
UScopeMutex s(&_threadMutex);
if(_memory)
{
return _memory->getStMem().size();
@@ -490,8 +486,9 @@ int Rtabmap::getSTMSize() const
return 0;
}
int Rtabmap::getTotalMemSize() const
int Rtabmap::getTotalMemSize()
{
UScopeMutex s(&_threadMutex);
ULOGGER_DEBUG("");
int memSize = 0;
if(_memory)
@@ -534,6 +531,8 @@ void Rtabmap::mainLoopKill()
void Rtabmap::mainLoop()
{
UScopeMutex s(&_threadMutex);
State state = kStateDetecting;
ParametersMap parameters;
@@ -598,16 +597,19 @@ void Rtabmap::mainLoop()
}
}
void Rtabmap::generateGraph(const std::string & path) const
void Rtabmap::generateGraph(const std::string & path)
{
if(!this->isRunning() && _memory)
UScopeMutex s(&_threadMutex);
if(_memory)
{
_memory->joinTrashThread(); // make sure the trash is flushed
_memory->generateGraph(path);
}
}
void Rtabmap::resetMemory(bool dbOverwritten)
{
UScopeMutex s(&_threadMutex);
if(_memory)
{
UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitializing));
@@ -1366,7 +1368,7 @@ void Rtabmap::addImage(const Image & image)
_imageMutex.lock();
{
_imageBuffer.push_back(image);
while(_imageBufferMaxSize > 0 && _imageBuffer.size() >= (unsigned int)_imageBufferMaxSize)
while(_imageBufferMaxSize > 0 && _imageBuffer.size() > (unsigned int)_imageBufferMaxSize)
{
ULOGGER_WARN("Data buffer is full, the oldest data is removed to add the new one.");
_imageBuffer.pop_front();
@@ -1431,6 +1433,7 @@ void Rtabmap::setDataBufferSize(int size)
void Rtabmap::setWorkingDirectory(std::string path)
{
UScopeMutex scopeMutex(&_threadMutex);
if(path.size() && (path.at(path.size()-1) != '\\' || path.at(path.size()-1) != '/' ))
{
path += UDirectory::separator();
@@ -1465,11 +1468,13 @@ void Rtabmap::setWorkingDirectory(std::string path)
void Rtabmap::process(const cv::Mat & image)
{
UScopeMutex s(&_threadMutex);
this->process(Image(image));
}
void Rtabmap::process(const Image & image)
{
UScopeMutex s(&_threadMutex);
if(!this->isRunning())
{
this->addImage(image);
@@ -1477,18 +1482,25 @@ void Rtabmap::process(const Image & image)
}
else
{
UERROR("The core thread is running!");
UERROR("The rtabmap thread is running! Don't start rtabmap thread if you want to use this method directly.");
}
}
void Rtabmap::dumpData()
{
UScopeMutex s(&_threadMutex);
if(_memory)
{
_memory->dumpMemory(this->getWorkingDir());
}
}
void Rtabmap::updateParameters(const ParametersMap & parameters)
{
UScopeMutex s(&_threadMutex);
this->parseParameters(parameters);
}
void Rtabmap::adjustLikelihood(std::map<int, float> & likelihood) const
{
@@ -1560,8 +1572,9 @@ void Rtabmap::adjustLikelihood(std::map<int, float> & likelihood) const
UDEBUG("mean=%f, stdDev=%f, max=%f, maxId=%d, time=%fs", mean, stdDev, max, maxId, time);
}
void Rtabmap::dumpPrediction() const
void Rtabmap::dumpPrediction()
{
UScopeMutex s(&_threadMutex);
if(_memory && _bayesFilter)
{
const std::set<int> & wm = _memory->getWorkingMem();