Make brushed motors resistant to changing missions #474
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Oh this is 🔥 |
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| // if key is absent, no motor with that key has been made live | ||
| auto it = liveMap.find(key); | ||
| if (it != liveMap.end()) { |
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wait I think you'll want to put the unique lock outside of the if statement, I think it loses scope right after it leaves the if statement. So I think you can find a way to move it outside the if statement (the if statement is only necessary for emplacing the key,state into the liveMap
…dded third condition to check if motor is already live
| if (it == liveMap.end()) { | ||
| LiveState state; | ||
| state.jointName = name; | ||
| liveMap.emplace(key, state); |
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you should use a lock guard whenever emplacing (basically just need to put a lock and unlock around the emplace, but a lock_guard can do that.(something like std::lock_guardstd::mutex lock(state.liveMutex); )
| // EFFECTS: I2C bus, if not already live, | ||
| // configures the physical controller. | ||
| // Then makes live. | ||
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| std::unordered_map<uint8_t, LiveState> Controller::liveMap; |
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I'm not sure if you ran into this issue when emplacing but if you run into issues when emplacing, it's probably because C++ does not know how to handle default stuff when it is a uint8_t (it requires a hash). An easy and acceptable fix is to just make the unordered map take an integer fr the key
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Looks great, need to test before merging though |
-------- Co-authored-by: wisabel <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
-------- Co-authored-by: wisabel0 <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
-------- Co-authored-by: wisabel0 <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
Co-authored-by: wisabel0 <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
Co-authored-by: wisabel0 <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
Co-authored-by: wisabel0 <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
Co-authored-by: wisabel0 <wisabel@umich.edu> Co-authored-by: tabiosg <gutstabios@gmail.com>
Summary
Closes #(Your issue number here)
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