From 3c687d43ca02f2ff6cae1a07befc757b8482fb08 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Tue, 5 Mar 2019 13:45:42 +0800
Subject: [PATCH] fix(timestamp):add onProcess sync lock to make sure imgData
 be unique; issue[EYES-26]

---
 src/mynteye/api/processor.cc                          |  1 +
 src/mynteye/api/processor.h                           |  1 +
 .../src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc   | 11 +++++++++++
 3 files changed, 13 insertions(+)

diff --git a/src/mynteye/api/processor.cc b/src/mynteye/api/processor.cc
index 175e0ba..ba06fa5 100644
--- a/src/mynteye/api/processor.cc
+++ b/src/mynteye/api/processor.cc
@@ -209,6 +209,7 @@ void Processor::Run() {
     }
     bool ok = false;
     try {
+      std::unique_lock<std::mutex> lk(mtx_data_process_unique_);
       if (callback_) {
         if (callback_(input_.get(), output_.get(), parent_)) {
           ok = true;
diff --git a/src/mynteye/api/processor.h b/src/mynteye/api/processor.h
index 4cdaeac..9c3b4d2 100644
--- a/src/mynteye/api/processor.h
+++ b/src/mynteye/api/processor.h
@@ -103,6 +103,7 @@ class Processor :
 
   bool input_ready_;
   std::mutex mtx_input_ready_;
+  std::mutex mtx_data_process_unique_;
   std::condition_variable cond_input_ready_;
 
   bool idle_;
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index abaecf0..a46748c 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -589,6 +589,17 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           stream, [this, stream](const api::StreamData &data) {
             ros::Time stamp = checkUpTimeStamp(
                 data.img->timestamp, stream);
+            if (stream == Stream::DEPTH) {
+              static long long last_img = 0;
+              static ros::Time last = ros::Time(0);
+              static int cont = 0;
+              cont++;
+              if (stamp <= last) {
+                std::cout << "di " << cont <<"ci:  " << data.img->timestamp <<"&" << last_img << "|" << last << "&" <<stamp << std::endl;
+              }
+              last = stamp;
+              last_img = data.img->timestamp;
+            }
             static std::size_t count = 0;
             ++count;
             publishData(stream, data, count, stamp);