RSDK-3344 - getPosition refactor #110
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…kim-mishra/viam-cartographer into RSDK-3344-refactor-get-position
viambot
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kim-mishra
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May 31, 2023
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| { | ||
| std::lock_guard<std::mutex> lk(viam_response_mutex); | ||
| global_pose = latest_global_pose; | ||
| } |
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Question: Is there any behavior surrounding lock availability we want to implement here? Or do we always want GetPosition to wait until the lock is available
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B/c the viam_response_mutex is only held for the duration of copying a variable (not an expensive operation) it is ok to block until the lock is acquired.
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nicksanford
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May 31, 2023
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| auto pos_vector = global_pose.translation(); | ||
| auto pos_quat = global_pose.rotation(); | ||
| viam_carto_get_position_response* vcgpr; |
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I think you want to actually instantiate the struct & then pass a reference to it to the function, otherwise I think the pointer could point to uninitialized memory:
viam_carto_get_position_response vcgpr;
GetPosition(&vcgpr);
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| { | ||
| std::lock_guard<std::mutex> lk(viam_response_mutex); | ||
| global_pose = latest_global_pose; | ||
| } |
There was a problem hiding this comment.
B/c the viam_response_mutex is only held for the duration of copying a variable (not an expensive operation) it is ok to block until the lock is acquired.
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viambot
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kim-mishra
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