diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 5fc9dd0a885a89625d8db5e261704df0822e4034..1abd32e5c66265b7293c5b90e815551ee9bf4e4a 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -221,8 +221,10 @@ namespace graphics {
throw std::runtime_error (oss.str ());
}
else {
+ mtx_.lock();
GroupNodePtr_t mainNode = GroupNode::create (sceneName);
addGroup (sceneName, mainNode);
+ mtx_.unlock();
}
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -241,12 +243,14 @@ namespace graphics {
throw std::runtime_error (oss.str ());
}
else {
+ mtx_.lock();
GroupNodePtr_t mainNode = GroupNode::create (sceneName);
addGroup (sceneName, mainNode);
std::string floorName = sceneName + "/floor";
LeafNodeGroundPtr_t floor = LeafNodeGround::create (floorName);
addNode (floorName, floor);
mainNode->addChild (floor);
+ mtx_.unlock();
}
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -261,7 +265,9 @@ namespace graphics {
std::string sceneName (sceneNameCorba);
if ((windowId >= 0 || windowId < windowManagers_.size ()) &&
groupNodes_.find (sceneName) != groupNodes_.end () ) {
+ mtx_.lock();
windowManagers_[windowId]->addNode (groupNodes_[sceneName]);
+ mtx_.unlock();
return true;
}
else {
@@ -289,11 +295,13 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
LeafNodeBoxPtr_t box = LeafNodeBox::create
(boxName, osgVector3 (boxSize1, boxSize2, boxSize3),
getColor (colorCorba));
GraphicalInterface::initParent (boxName, box);
addNode (boxName, box);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -315,10 +323,12 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create
(capsuleName, radius, height, getColor (colorCorba));
GraphicalInterface::initParent (capsuleName, capsule);
addNode (capsuleName, capsule);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -339,10 +349,12 @@ namespace graphics {
}
else {
try {
+ mtx_.lock();
LeafNodeColladaPtr_t mesh = LeafNodeCollada::create
(meshName, meshPath);
GraphicalInterface::initParent (meshName, mesh);
addNode (meshName, mesh);
+ mtx_.unlock();
return true;
} catch (const std::exception& exc) {
std::cout << "Mesh \"" << meshPath << "\" not found." << std::endl;
@@ -366,10 +378,12 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
LeafNodeConePtr_t cone = LeafNodeCone::create
(coneName, radius, height);
GraphicalInterface::initParent (coneName, cone);
addNode (coneName, cone);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -391,10 +405,12 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create
(cylinderName, radius, height, getColor (colorCorba));
GraphicalInterface::initParent (cylinderName, cylinder);
addNode (cylinderName, cylinder);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -415,10 +431,12 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
LeafNodeSpherePtr_t sphere = LeafNodeSphere::create
(sphereName, radius, getColor (colorCorba));
GraphicalInterface::initParent (sphereName, sphere);
addNode (sphereName, sphere);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -439,12 +457,14 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
osgVector3 pos1 (posCorba1[0], posCorba1[1], posCorba1[2]);
osgVector3 pos2 (posCorba2[0], posCorba2[1], posCorba2[2]);
LeafNodeLinePtr_t line = LeafNodeLine::create
(lineName, pos1, pos2, getColor (colorCorba));
GraphicalInterface::initParent (lineName, line);
addNode (lineName, line);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -467,6 +487,7 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
osgVector3 pos1 (posCorba1[0], posCorba1[1], posCorba1[2]);
osgVector3 pos2 (posCorba2[0], posCorba2[1], posCorba2[2]);
osgVector3 pos3 (posCorba3[0], posCorba3[1], posCorba3[2]);
@@ -474,6 +495,7 @@ namespace graphics {
(faceName, pos1, pos2, pos3, getColor (colorCorba));
GraphicalInterface::initParent (faceName, face);
addNode (faceName, face);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -497,6 +519,7 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
osgVector3 pos1 (posCorba1[0], posCorba1[1], posCorba1[2]);
osgVector3 pos2 (posCorba2[0], posCorba2[1], posCorba2[2]);
osgVector3 pos3 (posCorba3[0], posCorba3[1], posCorba3[2]);
@@ -505,7 +528,8 @@ namespace graphics {
(faceName, pos1, pos2, pos3, pos3, getColor (colorCorba));
GraphicalInterface::initParent (faceName, face);
addNode (faceName, face);
- return true;
+ mtx_.unlock();
+ return true;
}
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -551,9 +575,11 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
GroupNodePtr_t groupNode = GroupNode::create (groupName);
GraphicalInterface::initParent (groupName, groupNode);
addGroup (groupName, groupNode);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -576,6 +602,7 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
GroupNodePtr_t urdf = urdfParser::parse
(urdfName, urdfPath, urdfPackagePath);
NodePtr_t link;
@@ -585,6 +612,7 @@ namespace graphics {
}
GraphicalInterface::initParent (urdfName, urdf);
addGroup (urdfName, urdf);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -606,6 +634,7 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
GroupNodePtr_t urdf = urdfParser::parse
(urdfName, urdfPath, urdfPackagePath, "collision");
NodePtr_t link;
@@ -615,6 +644,7 @@ namespace graphics {
}
GraphicalInterface::initParent (urdfName, urdf);
addGroup (urdfName, urdf);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -642,6 +672,7 @@ namespace graphics {
<< "\" already exist.";
throw std::runtime_error (oss.str ());
}
+ mtx_.lock();
GroupNodePtr_t urdf = urdfParser::parse
(urdfName, urdfPath, urdfPackagePath,
visual ? "visual" : "collision", "object");
@@ -652,6 +683,7 @@ namespace graphics {
}
GraphicalInterface::initParent (urdfName, urdf);
addGroup (urdfName, urdf);
+ mtx_.unlock();
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -671,7 +703,9 @@ namespace graphics {
return false;
}
else {
+ mtx_.lock();
groupNodes_[groupName]->addChild (nodes_[nodeName]);
+ mtx_.unlock();
return true;
}
} catch (const std::exception& exc) {
@@ -724,7 +758,9 @@ namespace graphics {
<< std::endl;
return false;
}
+ mtx_.lock();
nodes_[nodeName]->addLandmark (size);
+ mtx_.unlock();
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -742,7 +778,9 @@ namespace graphics {
<< std::endl;
return false;
}
+ mtx_.lock();
nodes_[nodeName]->deleteLandmark ();
+ mtx_.unlock();
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -762,7 +800,9 @@ namespace graphics {
<< std::endl;
return false;
}
+ mtx_.lock();
nodes_[nodeName]->setVisibilityMode (visibility);
+ mtx_.unlock();
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -782,7 +822,9 @@ namespace graphics {
<< std::endl;
return false;
}
+ mtx_.lock();
nodes_[nodeName]->setWireFrameMode (wire);
+ mtx_.unlock();
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -802,7 +844,9 @@ namespace graphics {
<< std::endl;
return false;
}
+ mtx_.lock();
nodes_[nodeName]->setLightingMode (light);
+ mtx_.unlock();
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());