Fixed synchronization issues.

Now left with one more crash that needs debugging when "play" is hit. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
gazebosim · arjo129 · Oct 3, 2023 · Dec 20, 2022 · Dec 21, 2022 · Jan 12, 2023
commit 87586d786899b52cf04ecd964da2cc1a5f5b36e6
@@ -94,6 +94,10 @@ EnvironmentVisualization::EnvironmentVisualization()
 {
   gui::App()->Engine()->rootContext()->setContextProperty(
       "EnvironmentVisualization", this);
+  this->qtimer = new QTimer(this);
+  connect(qtimer, &QTimer::timeout,
+    this, &EnvironmentVisualization::ResamplePointcloud);
+  this->qtimer->start(1000);
 }
 
 /////////////////////////////////////////////////
@@ -118,7 +122,7 @@ void EnvironmentVisualization::Update(const UpdateInfo &_info,
   {
     this->dataPtr->Initiallize(_ecm);
     this->dataPtr->first = false;
-    //this->ResamplePointcloud();
+    this->ResamplePointcloud();
   }
 }
 

@@ -73,6 +73,8 @@ inline namespace GZ_SIM_VERSION_NAMESPACE
     public: unsigned int ySamples{10};
 
     public: unsigned int zSamples{10};
+
+    private: QTimer* qtimer;
   };
 }
 }

@@ -63,6 +63,8 @@ class gz::sim::systems::EnvironmentPreloadPrivate
 
   public: math::Vector3d samples;
 
+  public: bool fileLoaded{false};
+
   public: bool logError{true};
 
   public: std::shared_ptr<components::EnvironmentalData> envData;
@@ -82,9 +84,12 @@ class gz::sim::systems::EnvironmentPreloadPrivate
   public: void OnVisualResChanged(const msgs::Vector3d &_resChanged)
   {
     std::lock_guard<std::mutex> lock(this->mtx);
-    this->visualize = true;
     this->samples = msgs::Convert(_resChanged);
-    this->visualizationPtr->resample = true;
+    if (this->fileLoaded)
+    {
+      this->visualize = true;
+      this->visualizationPtr->resample = true;
+    }
   }
 
   public: void ReadSdf(EntityComponentManager &_ecm)
@@ -241,6 +246,7 @@ class gz::sim::systems::EnvironmentPreloadPrivate
       auto component = ComponentT{std::move(data)};
       _ecm.CreateComponent(worldEntity(_ecm), std::move(component));
       this->visualizationPtr->resample = true;
+      this->fileLoaded = true;
     }
     catch (const std::invalid_argument &exc)
     {

@@ -61,6 +61,8 @@ class EnvironmentVisualizationTool
 
   public: std::atomic<bool> resample{true};
 
+  public: bool finishedTime{false};
+
   /////////////////////////////////////////////////
   public: void CreatePointCloudTopics(
     std::shared_ptr<components::EnvironmentalData> data) {
-Original file line number
+Diff line change
@@ Expand Up / @@ -73,6 +73,8 @@ inline namespace GZ_SIM_VERSION_NAMESPACE @@
         public: unsigned int ySamples{10};
         public: unsigned int zSamples{10};
+        private: QTimer* qtimer;
       };
     }
     }
@@ Expand Down @@