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Fixes multithread concern with robot name #3

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Merged
diego-ramlab merged 2 commits into from
Oct 27, 2025
Merged

Fixes multithread concern with robot name #3

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aee592e
Fixes multithread concern with robot name
diego-ramlab Oct 27, 2025
77534d5
Adds more mutexes for safe multithreading
diego-ramlab Oct 27, 2025
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139 changes: 101 additions & 38 deletions tm_driver/include/tm_driver/tm_robot_state.h
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Original file line number Diff line number Diff line change
Expand Up @@ -91,109 +91,171 @@ class TmRobotState
~TmRobotState();

public:
unsigned char is_linked() { return tmRobotStateDataToPublish.is_linked; }
unsigned char has_error() { return tmRobotStateDataToPublish.has_error; }
bool is_data_table_correct() { return isDataTableCorrect; }
unsigned char is_project_running() { return tmRobotStateDataToPublish.is_proj_running; }
unsigned char is_project_paused() { return tmRobotStateDataToPublish.is_proj_paused; }
unsigned char is_safeguard_A() { return tmRobotStateDataToPublish.is_safeguard_A_triggered; }
unsigned char is_EStop() { return tmRobotStateDataToPublish.is_ESTOP_pressed; }
unsigned char camera_light() { return tmRobotStateDataToPublish.camera_light; } // R/W
int error_code() { return tmRobotStateDataToPublish.error_code; }
unsigned char is_linked() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.is_linked;
}
unsigned char has_error() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.has_error;
}
bool is_data_table_correct() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return isDataTableCorrect;
}
unsigned char is_project_running() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.is_proj_running;
}
unsigned char is_project_paused() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.is_proj_paused;
}
unsigned char is_safeguard_A() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.is_safeguard_A_triggered;
}
unsigned char is_EStop() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.is_ESTOP_pressed;
}
unsigned char camera_light() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.camera_light;
} // R/W
int error_code() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.error_code;
}
std::optional<std::string> robot_model() const;
std::optional<bool> is_model_s() const;
std::string error_content() { return ""; }
std::string error_content() const { return ""; }

std::vector<double> flange_pose() {
std::vector<double> flange_pose() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> flangePose;
flangePose.assign(6, 0.0);
si_pose(flangePose, tmRobotStateDataToPublish.flange_pose, 6);
return flangePose;
}
std::vector<double> joint_angle(){
std::vector<double> joint_angle() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> jointAngle;
jointAngle.assign(6, 0.0);
jointAngle = rads(tmRobotStateDataToPublish.joint_angle, 6);
return jointAngle;
}
std::vector<double> tool_pose(){
std::vector<double> tool_pose() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> toolPose;
toolPose.assign(6, 0.0);
si_pose(toolPose, tmRobotStateDataToPublish.tool_pose, 6);
return toolPose;
}
std::vector<double> tcp_force_vec(){
std::vector<double> tcp_force_vec() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> tcpForceVec;
tcpForceVec.assign(3, 0.0);
for (int i = 0; i < 3; ++i) { tcpForceVec[i] = double(tmRobotStateDataToPublish.tcp_force_vec[i]); }
return tcpForceVec;
}
double tcp_force() {
double tcp_force() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.tcp_force;
}
std::vector<double> tcp_speed_vec(){
std::vector<double> tcp_speed_vec() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> tcpSpeedVec;
tcpSpeedVec.assign(6, 0.0);
si_pose(tcpSpeedVec, tmRobotStateDataToPublish.tcp_speed_vec, 6);
return tcpSpeedVec;
}
double tcp_speed() { return tmRobotStateDataToPublish.tcp_speed; }
std::vector<double> joint_speed(){
double tcp_speed() const
{
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.tcp_speed;
}
std::vector<double> joint_speed() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> jointSpeed;
jointSpeed.assign(6, 0.0);
jointSpeed = rads( tmRobotStateDataToPublish.joint_speed, 6);
return jointSpeed;
}
std::vector<double> joint_torque(){
}

std::vector<double> joint_torque() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> jointTorque;
jointTorque.assign(6, 0.0);
jointTorque = meters( tmRobotStateDataToPublish.joint_torque, 6);
return jointTorque;
}
std::vector<double> joint_torque_average(){
std::vector<double> joint_torque_average() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> jointTorqueAverage;
jointTorqueAverage.assign(6, 0.0);
jointTorqueAverage = meters( tmRobotStateDataToPublish.joint_torque_average, 6);
return jointTorqueAverage;
}
std::vector<double> joint_torque_min() {
std::vector<double> joint_torque_min() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> jointTorqueMin;
jointTorqueMin.assign(6, 0.0);
jointTorqueMin = meters( tmRobotStateDataToPublish.joint_torque_min, 6);
return jointTorqueMin;
}
std::vector<double> joint_torque_max() {
std::vector<double> joint_torque_max() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
std::vector<double> jointTorqueMax;
jointTorqueMax.assign(6, 0.0);
jointTorqueMax = meters( tmRobotStateDataToPublish.joint_torque_max, 6);
return jointTorqueMax;
}

int32_t project_speed() { return tmRobotStateDataToPublish.proj_speed; }
int ma_mode() { return tmRobotStateDataToPublish.ma_mode; }
unsigned char stick_play_pause() { return tmRobotStateDataToPublish.stick_play_pause; } // R/W
int32_t robot_light() { return tmRobotStateDataToPublish.robot_light; }
int32_t project_speed() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.proj_speed;
}
int ma_mode() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.ma_mode;
}
unsigned char stick_play_pause() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.stick_play_pause;
}
int32_t robot_light() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return tmRobotStateDataToPublish.robot_light;
}

std::vector<unsigned char> ctrller_DO(){
std::vector<unsigned char> ctrller_DO() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<unsigned char> (tmRobotStateDataToPublish.ctrller_DO.begin(), tmRobotStateDataToPublish.ctrller_DO.end());
}
std::vector<unsigned char> ctrller_DI() {
std::vector<unsigned char> ctrller_DI() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<unsigned char> (tmRobotStateDataToPublish.ctrller_DI.begin(), tmRobotStateDataToPublish.ctrller_DI.end());
}
std::vector<float> ctrller_AO(){
std::vector<float> ctrller_AO() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<float> (tmRobotStateDataToPublish.ctrller_AO.begin(), tmRobotStateDataToPublish.ctrller_AO.end());
}
std::vector<float> ctrller_AI(){
return std::vector<float> (tmRobotStateDataToPublish.ctrller_AI.begin(), tmRobotStateDataToPublish.ctrller_AI.end());
}
std::vector<unsigned char> ee_DO(){
return std::vector<unsigned char> (tmRobotStateDataToPublish.ee_DO.begin(), tmRobotStateDataToPublish.ee_DO.end());
std::vector<float> ctrller_AI() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<float> (tmRobotStateDataToPublish.ctrller_AI.begin(), tmRobotStateDataToPublish.ctrller_AI.end());
}
std::vector<unsigned char> ee_DO() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<unsigned char> (tmRobotStateDataToPublish.ee_DO.begin(), tmRobotStateDataToPublish.ee_DO.end());
}
std::vector<unsigned char> ee_DI(){
std::vector<unsigned char> ee_DI() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<unsigned char> (tmRobotStateDataToPublish.ee_DI.begin(), tmRobotStateDataToPublish.ee_DI.end());
}
std::vector<float> ee_AI(){
return std::vector<float> (tmRobotStateDataToPublish.ee_AI.begin(), tmRobotStateDataToPublish.ee_AI.end());
std::vector<float> ee_AI() const {
std::lock_guard<std::mutex> lck(_deserialize_mtx);
return std::vector<float> (tmRobotStateDataToPublish.ee_AI.begin(), tmRobotStateDataToPublish.ee_AI.end());
}


Expand Down Expand Up @@ -275,4 +337,5 @@ class TmRobotState
void set_receive_state(TmCommRC state);
void update_tm_robot_publish_state();
void print();
mutable std::mutex _deserialize_mtx;
};
6 changes: 5 additions & 1 deletion tm_driver/src/tm_robot_state.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -307,7 +307,10 @@ size_t TmRobotState::_deserialize(const char *data, size_t size)
}

multiThreadCache.set_catch_data(tmRobotStateDataFromEthernet);
tmRobotStateDataToPublish = *_data_table->get_rsd();
{
std::lock_guard<std::mutex> lck(_deserialize_mtx);
tmRobotStateDataToPublish = *_data_table->get_rsd();
}
static bool print_model = true;
const auto model = robot_model();

Expand All @@ -331,6 +334,7 @@ void TmRobotState::set_receive_state(TmCommRC state){

std::optional<std::string> TmRobotState::robot_model() const
{
std::lock_guard<std::mutex> lck(_deserialize_mtx);
auto robot_name_item_it = _data_table->find("Robot_Model");
if (robot_name_item_it == _data_table->end() || !robot_name_item_it->second.checked || tmRobotStateDataFromEthernet.robot_model[0] == '\0') {
return std::nullopt;
Expand Down