From 44f8f5324f55e07d7472a3744e2f02a39fff98c7 Mon Sep 17 00:00:00 2001
From: fan-ziqi <fanziqi614@gmail.com>
Date: Thu, 19 Dec 2024 16:42:01 +0800
Subject: [PATCH] fix: mutex will cause thread timeout

---
 src/rl_sar/src/rl_real_a1.cpp  | 4 ++--
 src/rl_sar/src/rl_real_go2.cpp | 4 ++--
 src/rl_sar/src/rl_sim.cpp      | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/rl_sar/src/rl_real_a1.cpp b/src/rl_sar/src/rl_real_a1.cpp
index 1052954..e192670 100644
--- a/src/rl_sar/src/rl_real_a1.cpp
+++ b/src/rl_sar/src/rl_real_a1.cpp
@@ -139,7 +139,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
 
 void RL_Real::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     this->motiontime++;
 
@@ -150,7 +150,7 @@ void RL_Real::RobotControl()
 
 void RL_Real::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING)
     {
diff --git a/src/rl_sar/src/rl_real_go2.cpp b/src/rl_sar/src/rl_real_go2.cpp
index f414b1d..b245ad5 100644
--- a/src/rl_sar/src/rl_real_go2.cpp
+++ b/src/rl_sar/src/rl_real_go2.cpp
@@ -144,7 +144,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
 
 void RL_Real::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     this->motiontime++;
 
@@ -155,7 +155,7 @@ void RL_Real::RobotControl()
 
 void RL_Real::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING)
     {
diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
index 69ebcc2..d36337e 100644
--- a/src/rl_sar/src/rl_sim.cpp
+++ b/src/rl_sar/src/rl_sim.cpp
@@ -153,7 +153,7 @@ void RL_Sim::SetCommand(const RobotCommand<double> *command)
 
 void RL_Sim::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->control.control_state == STATE_RESET_SIMULATION)
     {
@@ -218,7 +218,7 @@ void RL_Sim::JointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg)
 
 void RL_Sim::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING && simulation_running)
     {