1.1.0 Add lock state protection while certain data is processed coping in a normal receiving state to avoid race conditions, and update README.md.

Author: YH.Wang

README.md

@@ -123,7 +123,7 @@ This chapter describes that the user can use a script program to extract specifi
 - Embedded TM ROS Driver [Usage Guideline](./doc/tm_humble_description_e.md)
 
 **Note 1**: If the user just want to use the TM Robot nominal model to control the robot, the user can skip the rest of this chapter.<br/>
-**Note 2**: The tm_description package contains description files and meshes, available for the TM12S model, and some Cobot models will be added later.
+**Note 2**: The tm_description package contains description files and meshes, available for the TM5S, TM7S, TM12S, TM14S, and TM25S model, and some Cobot models will be added later.
 <div> </div>
 
 ## __7. Contact us / Technical support__

doc/tm_humble.md

@@ -132,10 +132,10 @@ The user can manually click the `Data Table Setting` <sup>2</sup> item and check
 >```
 > Example :``ros2 run tm_driver tm_driver robot_ip:=192.168.10.2``, if the <robot_ip_address> is 192.168.10.2
 >
-> Now, the user can use a new terminal to run each ROS node or command but don't forget to source the correct setup shell files as starting a new terminal.
+> Now, the user can use a new terminal to run each ROS node or command, but don't forget to source the correct setup shell files as starting a new terminal.
 >
-> &#10146; <sup>1</sup>  The user can download the TM driver relative ROS apps [Experimental TM2 Humble ROS Apps](https://github.com/TechmanRobotInc/tm2_ros2/tree/humble) of the GitHub repository for ROS applications.
-> **Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+> &#10146; <sup>1</sup>  The user can download the TM driver relative ROS apps [Experimental TM2 Humble ROS Apps](https://github.com/TechmanRobotInc/tm2_ros2/tree/humble) of the GitHub repository for ROS applications.<br/>
+> **Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 
 ## __3. TMflow Vision node setup and prerequisites for using TM ROS Vision__
@@ -235,7 +235,7 @@ The user can manually click the `Data Table Setting` <sup>2</sup> item and check
 > ros2 run image_sub sub_img
 > ```
 >
-> Then, the viewer will display image data from _TMflow_.
-**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+> Then, the viewer will display image data from _TMflow_.<br/>
+> **Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 

doc/tm_humble_demo.md

@@ -96,6 +96,6 @@ The <robot_ip_address> is the IP address of the TM Robot, the user can get it th
 ``source ./install/setup.bash``<br/>
 ``ros2 run demo demo_set_io``<br/>
 > :warning:[CAUTION] Some demos will let the TM Robot move, please be careful.<br/>
-**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+**Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 

doc/tm_humble_demo_e.md

@@ -105,6 +105,6 @@ For example:  (select to run demo_set_io)
 >> {workspace}$ source ./install/setup.bash
 >> {workspace}$ ros2 run demo demo_set_io
 >> ```
-**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+**Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 

doc/tm_humble_e.md

@@ -206,8 +206,8 @@ The __Listen node__: a socket server can be established and be connected with RO
 >
 >> **Note**: The <ROS_DOMAIN_ID> is the key to ROS communication and must be the same as the value of _TM Flow 2_ in the _ROS Settings_.<br/>
 >
-> Then, the viewer will display image data from _TMflow_.
-**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+> Then, the viewer will display image data from _TMflow_.<br/>
+> **Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 <div> </div>
 
 ## __4. ROS Settings on Configuration__ 

doc/tm_humble_gui.md

@@ -57,7 +57,7 @@ The <robot_ip_address> is the IP address of the TM Robot, the user can get it th
 > 6. In another new terminal: Source setup.bash in the workspace path and start GUI debug by typing<br/>
 ``source ./install/setup.bash``<br/>
 ``ros2 run tm_inspect robot_ui``<br/>
-**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+**Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 >
 >
 <br/>

doc/tm_humble_gui_e.md

@@ -55,7 +55,7 @@ This chapter describes a simplified GUI for displaying tm_driver connection stat
 ``export ROS_DOMAIN_ID=<ROS_DOMAIN_ID>``<br/>
 The <ROS_DOMAIN_ID> value of this setting must be the same as the value of TM Flow.<br/>
 ``ros2 run tm_inspect robot_ui``<br/>
-**Note**: When you are finished, press CTRL + C in all terminal windows to shut everything down.<br/>
+**Note**: When you have finished, press CTRL + C in all terminal windows to shut everything down.<br/>
 >
 For example: 
 >> Assume the domain ID is set to 30 and the embedded TM ROS driver is successfully enabled on _Tmflow 2_. If the user has successfully built the specific code (tm2_ros2) before, now the user only needs to open a new terminal, and set the path to the TM driver workspace ``cd ~/tm2_ws``, then type the following command to start the debug GUI.<br/>

tm_driver/src/tm_ros2_svr.cpp

@@ -71,13 +71,22 @@ void TmSvrRos2::publish_fbs()
 {
     PubMsg &pm = pm_;
     TmRobotState &state = state_;
+    bool fbs_lock_ = false; /* MC-001: modify */ 
+
+    // Modifications based on suggestions from Collaborators (remark as MC-list)
+    /* MC-001:start */  
+    if(state.get_receive_state() != TmCommRC::TIMEOUT) {
+      fbs_lock_ = true;
+      state.mtx_lock();
+    }
+    /* MC-001:end */
 
     // Publish feedback state
     pm.fbs_msg.header.stamp = node->rclcpp::Node::now();
     if(state.get_receive_state() != TmCommRC::TIMEOUT){
       pm.fbs_msg.is_svr_connected = svr_.is_connected();
       pm.fbs_msg.is_sct_connected = sct_.is_connected() && iface_.is_on_listen_node();
-      pm.fbs_msg.tmsrv_cperr = (int)svr_.tmSvrErrData.error_code();  //Node State Response 
+      pm.fbs_msg.tmsrv_cperr = (int)svr_.tmSvrErrData.error_code(); // Node State Response
       pm.fbs_msg.tmsrv_dataerr = (int)pm.svr_msg.error_code;
       pm.fbs_msg.tmscript_cperr = (int)sct_.tmSctErrData.error_code();
       pm.fbs_msg.tmscript_dataerr = (int)sct_.sct_data.sct_has_error();
@@ -130,6 +139,14 @@ void TmSvrRos2::publish_fbs()
     pm.fbs_msg.joint_tor_average = state.joint_torque_average();
     pm.fbs_msg.joint_tor_min = state.joint_torque_min();
     pm.fbs_msg.joint_tor_max = state.joint_torque_max();
+
+    /* MC-001:start */    
+	if((state.get_receive_state() != TmCommRC::TIMEOUT) || (fbs_lock_ != false)) {	
+      state.mtx_unlock();
+      fbs_lock_ = false; 
+    }
+    /* MC-001:end */	
+
     pm.fbs_pub->publish(pm.fbs_msg);
 
     // Publish joint state
@@ -148,22 +165,36 @@ void TmSvrRos2::publish_fbs()
     pm.tool_pose_msg.pose.position.y = pose[1];
     pm.tool_pose_msg.pose.position.z = pose[2];
     pm.tool_pose_msg.pose.orientation = tf2::toMsg(quat);
-    pm.tool_pose_pub->publish(pm.tool_pose_msg);*/
+    pm.tool_pose_pub->publish(pm.tool_pose_msg); */
 }
 void TmSvrRos2::fake_publisher()
 {
     PubMsg &pm = pm_;
     TmRobotState &state = state_;
+    bool fbs_lock_ = false; /* MC-001: modify */ 
 
     print_info("TM_ROS: fake publisher thread begin");		
 
     while (rclcpp::ok()) {
       // Publish feedback state
       pm.fbs_msg.header.stamp = node->rclcpp::Node::now();
       {
+        /* MC-001:start */
+        if(state.get_receive_state() != TmCommRC::TIMEOUT) {
+          fbs_lock_ = true;
+          state.mtx_lock();
+        }
+        /* MC-001:end */		
         pm.fbs_msg.joint_pos = state.joint_angle();
         pm.fbs_msg.joint_vel = state.joint_speed();
         pm.fbs_msg.joint_tor = state.joint_torque();
+
+        /* MC-001:start */
+        if((state.get_receive_state() != TmCommRC::TIMEOUT) || (fbs_lock_ != false)) {	
+          state.mtx_unlock();
+          fbs_lock_ = false; 
+        }
+        /* MC-001:end */		
       }
       pm.fbs_pub->publish(pm.fbs_msg);