fix: mutex will cause thread timeout

fan-ziqi · Dec 19, 2024 · 44f8f53 · 44f8f53
1 parent 5b05b05
commit 44f8f53
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/src/rl_sar/src/rl_real_a1.cpp b/src/rl_sar/src/rl_real_a1.cpp
@@ -139,7 +139,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
 
 void RL_Real::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     this->motiontime++;
 
@@ -150,7 +150,7 @@ void RL_Real::RobotControl()
 
 void RL_Real::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING)
     {

diff --git a/src/rl_sar/src/rl_real_go2.cpp b/src/rl_sar/src/rl_real_go2.cpp
@@ -144,7 +144,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
 
 void RL_Real::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     this->motiontime++;
 
@@ -155,7 +155,7 @@ void RL_Real::RobotControl()
 
 void RL_Real::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING)
     {

diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
@@ -153,7 +153,7 @@ void RL_Sim::SetCommand(const RobotCommand<double> *command)
 
 void RL_Sim::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->control.control_state == STATE_RESET_SIMULATION)
     {
@@ -218,7 +218,7 @@ void RL_Sim::JointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
 
 void RL_Sim::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING && simulation_running)
     {