Added mutex locks

from pull request feedback.

Author: moriarty

rockin/plugins/drilling_machine/drilling_machine_simulation_thread.cpp

@@ -53,15 +53,11 @@ void DrillingMachineSimulationThread::init()
 
     fawkes::MutexLocker lock2(&drill_machine_mutex_);
 
-    // First time
-    if (!last_status_msg_.has_state())
-    {
-        last_status_msg_.set_state(DrillingMachineStatus::AT_TOP);
-        last_status_msg_.set_is_device_connected(true);
-        tick_ = ENCODER_MAX_;
-        last_command_msg_.set_command(DrillingMachineCommand::MOVE_UP);
-        logger->log_info("DrillingMachineSim", "simulation initialized to AT_TOP, tick at %d", tick_);
-    }
+    last_status_msg_.set_state(DrillingMachineStatus::AT_TOP);
+    last_status_msg_.set_is_device_connected(true);
+    tick_ = ENCODER_MAX_;
+    last_command_msg_.set_command(DrillingMachineCommand::MOVE_UP);
+    logger->log_info("DrillingMachineSim", "simulation initialized to AT_TOP, tick at %d", tick_);
 
     fawkes::MutexLocker lock(clips_mutex);
 
@@ -80,6 +76,7 @@ void DrillingMachineSimulationThread::finalize()
 
 void DrillingMachineSimulationThread::loop()
 {
+    fawkes::MutexLocker lock2(&drill_machine_mutex_);
     if (last_command_msg_.command() == DrillingMachineCommand::MOVE_DOWN)
     {
         if (tick_ > 1)
@@ -107,6 +104,7 @@ void DrillingMachineSimulationThread::loop()
 
 DrillingMachineStatus::State DrillingMachineSimulationThread::clips_get_device_state()
 {
+    fawkes::MutexLocker lock2(&drill_machine_mutex_);
     if (last_status_msg_.has_state())
     {
         return last_status_msg_.state();
@@ -116,6 +114,7 @@ DrillingMachineStatus::State DrillingMachineSimulationThread::clips_get_device_s
 
 int DrillingMachineSimulationThread::clips_is_device_connected()
 {
+    fawkes::MutexLocker lock2(&drill_machine_mutex_);
     return (last_status_msg_.has_is_device_connected() && last_status_msg_.is_device_connected());
 }
 
@@ -133,11 +132,11 @@ void DrillingMachineSimulationThread::moveDrill(DrillingMachineCommand::Command
 {
     // prevent sending to many messages to the device
     boost::posix_time::time_duration time_diff;
+    fawkes::MutexLocker lock2(&drill_machine_mutex_);
     time_diff = boost::posix_time::microsec_clock::local_time() - last_sent_command_timestamp_;
     if (time_diff.total_milliseconds() < 200)
         return;
 
-    fawkes::MutexLocker lock2(&drill_machine_mutex_);
     last_command_msg_.set_command(drill_command);
     last_sent_command_timestamp_ = boost::posix_time::microsec_clock::local_time();