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Fix thread safety issue with set active contact manager #1118

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merged 1 commit into from
Jan 29, 2025
Merged

Fix thread safety issue with set active contact manager #1118

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8 changes: 4 additions & 4 deletions tesseract_environment/src/environment.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2109,7 +2109,7 @@ bool Environment::Implementation::applyAddContactManagersPluginInfoCommand(
bool Environment::Implementation::applySetActiveContinuousContactManagerCommand(
const std::shared_ptr<const SetActiveContinuousContactManagerCommand>& cmd)
{
setActiveContinuousContactManagerHelper(cmd->getName());
setActiveContinuousContactManager(cmd->getName());

++revision;
commands.push_back(cmd);
Expand All @@ -2120,7 +2120,7 @@ bool Environment::Implementation::applySetActiveContinuousContactManagerCommand(
bool Environment::Implementation::applySetActiveDiscreteContactManagerCommand(
const std::shared_ptr<const SetActiveDiscreteContactManagerCommand>& cmd)
{
setActiveDiscreteContactManagerHelper(cmd->getName());
setActiveDiscreteContactManager(cmd->getName());

++revision;
commands.push_back(cmd);
Expand Down Expand Up @@ -2691,7 +2691,7 @@ tesseract_common::ContactManagersPluginInfo Environment::getContactManagersPlugi
bool Environment::setActiveDiscreteContactManager(const std::string& name)
{
std::unique_lock<std::shared_mutex> lock(mutex_);
return impl_->setActiveDiscreteContactManagerHelper(name);
return impl_->setActiveDiscreteContactManager(name);
}

std::unique_ptr<tesseract_collision::DiscreteContactManager>
Expand All @@ -2704,7 +2704,7 @@ Environment::getDiscreteContactManager(const std::string& name) const
bool Environment::setActiveContinuousContactManager(const std::string& name)
{
std::unique_lock<std::shared_mutex> lock(mutex_);
return impl_->setActiveContinuousContactManagerHelper(name);
return impl_->setActiveContinuousContactManager(name);
}

std::unique_ptr<tesseract_collision::ContinuousContactManager>
Expand Down
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