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Safety and correstness fixes #124

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Safety and correstness fixes #124

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2 changes: 1 addition & 1 deletion include/interactive_markers/message_context.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ class MessageContext

MessageContext(const MessageContext &) = default;

MessageContext<MsgT> & operator=(const MessageContext<MsgT> & other);
MessageContext<MsgT> & operator=(const MessageContext<MsgT> & other) = default;

// transform all messages with timestamp into target frame
void getTfTransforms();
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2 changes: 2 additions & 0 deletions src/interactive_marker_server.cpp
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Expand Up @@ -377,6 +377,8 @@ void InteractiveMarkerServer::getInteractiveMarkersCallback(
(void)request_header;
(void)request;

std::unique_lock<std::recursive_mutex> lock(mutex_);

RCLCPP_DEBUG(logger_, "Responding to request to get interactive markers");
response->sequence_number = sequence_number_;
response->markers.reserve(marker_contexts_.size());
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10 changes: 0 additions & 10 deletions src/message_context.cpp
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Expand Up @@ -75,16 +75,6 @@ MessageContext<MsgT>::MessageContext(
init();
}

template<class MsgT>
MessageContext<MsgT> & MessageContext<MsgT>::operator=(const MessageContext<MsgT> & other)
{
open_marker_idx_ = other.open_marker_idx_;
open_pose_idx_ = other.open_pose_idx_;
target_frame_ = other.target_frame_;
enable_autocomplete_transparency_ = other.enable_autocomplete_transparency_;
return *this;
}

template<class MsgT>
bool MessageContext<MsgT>::getTransform(
std_msgs::msg::Header & header,
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5 changes: 3 additions & 2 deletions src/tools.cpp
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Expand Up @@ -34,6 +34,7 @@
#endif

#include <algorithm>
#include <atomic>
#include <cmath>
#include <format> // NOLINT(build/include_order): cpplint misclassifies the C++20 header as C
#include <set>
Expand Down Expand Up @@ -189,8 +190,8 @@ void autoComplete(
marker.pose.orientation.z = marker_orientation.z();
marker.pose.orientation.w = marker_orientation.w();

static unsigned id = 0;
marker.id = id++;
static std::atomic<unsigned> id{0};
marker.id = id.fetch_add(1, std::memory_order_relaxed);
marker.ns = msg.name;

// If transparency is disabled, set alpha to 1.0 for all semi-transparent markers
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