Prevent lock in threading calls to sensor reading

iakov · Jan 29, 2025 · ae2b23b · ae2b23b
1 parent 6f9404f
commit ae2b23b
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Showing 4 changed files with 23 additions and 20 deletions.
diff --git a/plugins/robots/common/kitBase/src/robotModel/robotParts/scalarSensor.cpp b/plugins/robots/common/kitBase/src/robotModel/robotParts/scalarSensor.cpp
@@ -20,7 +20,10 @@ ScalarSensor::ScalarSensor(const DeviceInfo &info, const PortInfo &port)
 	: AbstractSensor(info, port)
 	, mLastValue(0)
 {
-	connect(this, &ScalarSensor::newData, this, [this](const QVariant &reading) { mLastValue = reading.toInt(); });
+	connect(this, &ScalarSensor::newData
+			, this, [this](const QVariant &reading) { mLastValue = reading.toInt(); }
+			, Qt::QueuedConnection
+	);
 }
 
 int ScalarSensor::lastData() const

diff --git a/plugins/robots/common/kitBase/src/robotModel/robotParts/vectorSensor.cpp b/plugins/robots/common/kitBase/src/robotModel/robotParts/vectorSensor.cpp
@@ -19,8 +19,10 @@ using namespace kitBase::robotModel::robotParts;
 VectorSensor::VectorSensor(const DeviceInfo &info, const PortInfo &port)
 	: AbstractSensor(info, port)
 {
-	connect(this, &VectorSensor::newData,
-			this, [this](const QVariant &reading) { mLastValue = reading.value<QVector<int>>(); });
+	connect(this, &VectorSensor::newData
+			, this, [this](const QVariant &reading) { mLastValue = reading.value<QVector<int>>(); }
+			, Qt::QueuedConnection
+	);
 }
 
 QVector<int> VectorSensor::lastData() const

diff --git a/...ters/interpreterCore/include/interpreterCore/interpreter/details/sensorVariablesUpdater.h b/...ters/interpreterCore/include/interpreterCore/interpreter/details/sensorVariablesUpdater.h
@@ -55,8 +55,8 @@ public slots:
 
 private slots:
 	void onTimerTimeout();
-	void onScalarSensorResponse(int reading);
-	void onVectorSensorResponse(const QVector<int> &reading);
+	void onScalarSensorResponse(const QVariant &reading);
+	void onVectorSensorResponse(const QVariant &reading);
 	void onFailure();
 
 private:

diff --git a/...ns/robots/interpreters/interpreterCore/src/interpreter/details/sensorVariablesUpdater.cpp b/...ns/robots/interpreters/interpreterCore/src/interpreter/details/sensorVariablesUpdater.cpp
@@ -37,7 +37,9 @@ SensorVariablesUpdater::~SensorVariablesUpdater()
 void SensorVariablesUpdater::run()
 {
 	mUpdateTimer.reset(mRobotModelManager.model().timeline().produceTimer());
-	connect(mUpdateTimer.data(), &utils::AbstractTimer::timeout, this, &SensorVariablesUpdater::onTimerTimeout);
+	connect(mUpdateTimer.data(), &utils::AbstractTimer::timeout
+			,this, &SensorVariablesUpdater::onTimerTimeout
+			,Qt::QueuedConnection);
 	resetVariables();
 
 	for (robotParts::Device * const device : mRobotModelManager.model().configuration().devices()) {
@@ -49,22 +51,20 @@ void SensorVariablesUpdater::run()
 				continue;
 			}
 
-			using namespace std::placeholders;
 			connect(
 					scalarSensor
 					, &robotParts::ScalarSensor::newData
 					, this
-					, std::bind(&SensorVariablesUpdater::onScalarSensorResponse, this,
-									std::bind(&QVariant::value<int>, _1))
-					, Qt::UniqueConnection
+					, &SensorVariablesUpdater::onScalarSensorResponse
+					, static_cast<Qt::ConnectionType>(Qt::UniqueConnection | Qt::QueuedConnection)
 					);
 
 			connect(
 					scalarSensor
 					, &robotParts::AbstractSensor::failure
 					, this
 					, &SensorVariablesUpdater::onFailure
-					, Qt::UniqueConnection
+					, static_cast<Qt::ConnectionType>(Qt::UniqueConnection | Qt::QueuedConnection)
 					);
 
 			continue;
@@ -78,22 +78,20 @@ void SensorVariablesUpdater::run()
 				continue;
 			}
 
-			using namespace std::placeholders;
 			connect(
 					vectorSensor
 					, &robotParts::VectorSensor::newData
 					, this
-					, std::bind(&SensorVariablesUpdater::onVectorSensorResponse,
-								this, std::bind(&QVariant::value<QVector<int>>, _1))
-					, Qt::UniqueConnection
+					, &SensorVariablesUpdater::onVectorSensorResponse
+					, static_cast<Qt::ConnectionType>(Qt::UniqueConnection | Qt::QueuedConnection)
 					);
 
 			connect(
 					vectorSensor
 					, &robotParts::AbstractSensor::failure
 					, this
 					, &SensorVariablesUpdater::onFailure
-					, Qt::UniqueConnection
+					, static_cast<Qt::ConnectionType>(Qt::UniqueConnection | Qt::QueuedConnection)
 					);
 
 			continue;
@@ -112,26 +110,26 @@ void SensorVariablesUpdater::suspend()
 	}
 }
 
-void SensorVariablesUpdater::onScalarSensorResponse(int reading)
+void SensorVariablesUpdater::onScalarSensorResponse(const QVariant &reading)
 {
 	robotParts::ScalarSensor * const scalarSensor = dynamic_cast<robotParts::ScalarSensor *>(sender());
 	if (!scalarSensor) {
 		/// @todo Error reporting.
 		return;
 	}
 
-	updateScalarSensorVariables(scalarSensor->port(), reading);
+	updateScalarSensorVariables(scalarSensor->port(), reading.toInt());
 }
 
-void SensorVariablesUpdater::onVectorSensorResponse(const QVector<int> &reading)
+void SensorVariablesUpdater::onVectorSensorResponse(const QVariant &reading)
 {
 	robotParts::VectorSensor * const vectorSensor = dynamic_cast<robotParts::VectorSensor *>(sender());
 	if (!vectorSensor) {
 		/// @todo Error reporting.
 		return;
 	}
 
-	updateVectorSensorVariables(vectorSensor->port(), reading);
+	updateVectorSensorVariables(vectorSensor->port(), reading.value<QVector<int>>());
 }
 
 void SensorVariablesUpdater::onTimerTimeout()