[Personalrobots-commit] SF.net SVN: personalrobots:[5556] pkg/trunk

[<stu...@us...>]

Revision: 5556
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5556&view=rev
Author:   stuglaser
Date:     2008-10-20 17:08:12 +0000 (Mon, 20 Oct 2008)

Log Message:
-----------
Mechanism control now refuses to create a controller when one with the same name already exists.

Modified Paths:
--------------
    pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp

Added Paths:
-----------
    pkg/trunk/util/misc_utils/include/misc_utils/mutex_guard.h

Modified: pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp	2008-10-20 17:07:54 UTC (rev 5555)
+++ pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp	2008-10-20 17:08:12 UTC (rev 5556)
@@ -30,6 +30,7 @@
 
 #include "mechanism_control/mechanism_control.h"
 #include "rosthread/member_thread.h"
+#include "misc_utils/mutex_guard.h"
 
 using namespace mechanism;
 
@@ -112,28 +113,22 @@
 
 bool MechanismControl::addController(controller::Controller *c, const std::string &name)
 {
-  //Add controller to list of controllers in realtime-safe manner;
-  controllers_lock_.lock(); //This lock is only to prevent us from other non-realtime threads.  The realtime thread may be spinning through the list of controllers while we are in here, so we need to keep that list always in a valid state.  This is why we fully allocate and set up the controller before adding it into the list of active controllers.
+  misc_utils::MutexGuard guard(&controllers_lock_);
 
-  bool spot_found = false;
+  if (getControllerByName(name))
+    return false;
+
   for (int i = 0; i < MAX_NUM_CONTROLLERS; i++)
   {
     if (controllers_[i] == NULL)
     {
-      spot_found = true;
       controllers_[i] = c;
       controller_names_[i] = name;
-      break;
+      return true;
     }
   }
-  controllers_lock_.unlock();
 
-  if (!spot_found)
-  {
-    return false;
-  }
-
-  return true;
+  return false;
 }
 
 

Added: pkg/trunk/util/misc_utils/include/misc_utils/mutex_guard.h
===================================================================
--- pkg/trunk/util/misc_utils/include/misc_utils/mutex_guard.h	                        (rev 0)
+++ pkg/trunk/util/misc_utils/include/misc_utils/mutex_guard.h	2008-10-20 17:08:12 UTC (rev 5556)
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * Author: Stuart Glaser
+ */
+#ifndef MUTEX_GUARD_H
+#define MUTEX_GUARD_H
+
+#include "rosthread/mutex.h"
+
+namespace misc_utils {
+
+class MutexGuard
+{
+public:
+  MutexGuard(ros::thread::mutex *mutex)
+  {
+    assert(mutex);
+    m = mutex;
+    m->lock();
+  }
+
+  ~MutexGuard()
+  {
+    m->unlock();
+  }
+
+private:
+  ros::thread::mutex *m;
+};
+
+}
+
+#endif


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