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147 | class SharedMemoryManager(metaclass=Singleton):
"""
Shared memory management.
"""
def __init__(self):
"""
Class constructor.
"""
self.robot_id: int | None = None
self.shared_memory: SharedMemory | None = None
self.shared_pose_current_buffer: SharedPoseBuffer | None = None
self.shared_lidar_data: NDArray | None = None
self.shared_lidar_data_lock: WritePriorityLock | None = None
self.shared_circle_obstacles: SharedObstacleCircleList | None = None
self.shared_rectangle_obstacles: SharedObstacleRectangleList | None = None
self.shared_obstacles_lock: WritePriorityLock | None = None
self.shared_monitor_obstacles: SharedCircleList | None = None
self.shared_monitor_obstacles_lock: WritePriorityLock | None = None
self.update_obstacles_timer: QTimer | None = None
self.view_item: QObject | None = None
self.scene_root: QObject | None = None
def set_scene(self, scene_root: QObject | None, view_item: QObject | None) -> None:
self.scene_root = scene_root
self.view_item = view_item
if view_item is None and scene_root is None:
return
# Ensure QML side starts with empty obstacles so stale data is cleared
self.apply_obstacle_data([], [])
def connect(self, robot_id: int, virtual_planner: bool = False, virtual_detector: bool = False) -> None:
logger.info(f"Connecting to shared memory for robot {robot_id}")
self.robot_id = robot_id
if virtual_planner or virtual_detector:
self.shared_memory = SharedMemory(f"cogip_{self.robot_id}")
if virtual_planner:
self.shared_pose_current_buffer = self.shared_memory.get_pose_current_buffer()
self.shared_circle_obstacles = self.shared_memory.get_circle_obstacles()
self.shared_rectangle_obstacles = self.shared_memory.get_rectangle_obstacles()
self.shared_obstacles_lock = self.shared_memory.get_lock(LockName.Obstacles)
self.shared_obstacles_lock.register_consumer()
if self.update_obstacles_timer is None:
self.update_obstacles_timer = QTimer()
self.update_obstacles_timer.setInterval(100)
self.update_obstacles_timer.timeout.connect(self.update_obstacles)
else:
self.update_obstacles_timer.stop()
self.update_obstacles_timer.setInterval(100)
self.update_obstacles_timer.start()
self.update_obstacles()
else:
if self.update_obstacles_timer is not None:
self.update_obstacles_timer.stop()
self.apply_obstacle_data([], [])
if virtual_detector:
self.shared_lidar_data = self.shared_memory.get_lidar_data()
self.shared_lidar_data_lock = self.shared_memory.get_lock(LockName.LidarData)
self.shared_monitor_obstacles = self.shared_memory.get_monitor_obstacles()
self.shared_monitor_obstacles_lock = self.shared_memory.get_lock(LockName.MonitorObstacles)
def disconnect(self) -> None:
logger.info(f"Disconnecting from shared memory for robot {self.robot_id}")
self.shared_monitor_obstacles_lock = None
self.shared_monitor_obstacles = None
self.shared_obstacles_lock = None
self.shared_rectangle_obstacles = None
self.shared_circle_obstacles = None
self.shared_lidar_data_lock = None
self.shared_lidar_data = None
self.shared_pose_current_buffer = None
self.shared_memory = None
self.robot_id = None
if self.update_obstacles_timer is not None:
self.update_obstacles_timer.stop()
self.update_obstacles_timer.deleteLater()
self.update_obstacles_timer = None
self.apply_obstacle_data([], [])
def update_obstacles(self) -> None:
if self.shared_obstacles_lock is None:
return
rectangles: list[dict[str, float]] = []
circles: list[dict[str, float]] = []
self.shared_obstacles_lock.start_reading()
try:
if self.shared_rectangle_obstacles is not None:
for rectangle_obstacle in self.shared_rectangle_obstacles:
center = rectangle_obstacle.center
rect_data: dict[str, float] = {
"x": center.x,
"y": center.y,
"angle": center.angle,
"length_x": rectangle_obstacle.length_x,
"length_y": rectangle_obstacle.length_y,
}
rect_data["bounding_box"] = [
{"x": vertex.x, "y": vertex.y} for vertex in rectangle_obstacle.bounding_box
]
rectangles.append(rect_data)
if self.shared_circle_obstacles is not None:
for circle_obstacle in self.shared_circle_obstacles:
center = circle_obstacle.center
circle_data: dict[str, float] = {
"x": center.x,
"y": center.y,
"angle": center.angle,
"radius": circle_obstacle.radius,
}
circle_data["bounding_box"] = [
{"x": vertex.x, "y": vertex.y} for vertex in circle_obstacle.bounding_box
]
circles.append(circle_data)
finally:
self.shared_obstacles_lock.finish_reading()
self.apply_obstacle_data(rectangles, circles)
def apply_obstacle_data(self, rectangles: list[dict[str, Any]], circles: list[dict[str, Any]]) -> None:
targets = [self.view_item, self.scene_root]
for target in targets:
if target is None:
continue
if not Shiboken.isValid(target):
continue
target.setProperty("rectangleObstacles", rectangles)
target.setProperty("circleObstacles", circles)
|