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Added mutex to protect stored time variables #2345

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Mar 28, 2024
Merged

Added mutex to protect stored time variables #2345

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11 changes: 11 additions & 0 deletions src/systems/dvl/DopplerVelocityLogSystem.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -220,6 +220,9 @@ class gz::sim::systems::DopplerVelocityLogSystem::Implementation
/// \brief Current simulation time.
public: std::chrono::steady_clock::duration nextUpdateTime{
std::chrono::steady_clock::duration::max()};

/// \brief Mutex to protect current simulation times
public: std::mutex timeMutex;
};

using namespace gz;
Expand Down Expand Up @@ -351,6 +354,8 @@ void DopplerVelocityLogSystem::Implementation::DoPostUpdate(
return true;
});

std::lock_guard<std::mutex> timeLock(this->timeMutex);

if (!this->perStepRequests.empty() || (
!_info.paused && this->nextUpdateTime <= _info.simTime))
{
Expand Down Expand Up @@ -611,6 +616,9 @@ void DopplerVelocityLogSystem::Implementation::OnRender()
}

auto closestUpdateTime = std::chrono::steady_clock::duration::max();

std::lock_guard<std::mutex> timeLock(this->timeMutex);

for (const auto & [_, sensorId] : this->sensorIdPerEntity)
{
gz::sensors::Sensor *sensor =
Expand All @@ -635,6 +643,9 @@ void DopplerVelocityLogSystem::Implementation::OnRender()
void DopplerVelocityLogSystem::Implementation::OnPostRender()
{
GZ_PROFILE("DopplerVelocityLogSystem::Implementation::OnPostRender");

std::lock_guard<std::mutex> timeLock(this->timeMutex);

for (const auto & sensorId : this->updatedSensorIds)
{
auto *sensor =
Expand Down
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