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Defer environment updates to prevent UI blocking #197

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45 changes: 33 additions & 12 deletions joint_trajectory/src/widgets/joint_trajectory_widget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,9 +288,13 @@ void JointTrajectoryWidget::onCurrentRowChanged(const QModelIndex& current, cons
// If no parent then it using the top most so no need to overwrite existing environment
if (data_->model->getComponentInfo()->hasParent())
{
auto env_wrapper =
std::make_shared<DefaultEnvironmentWrapper>(data_->model->getComponentInfo(), jts.getEnvironment());
EnvironmentManager::set(env_wrapper);
// Defer the EnvironmentManager::set() call to avoid blocking the UI
// Use a longer delay (100ms) to allow the UI to process other events first
constexpr int kDelayTimeMs = 100;
QTimer::singleShot(kDelayTimeMs, this, [this, jts, component_info = data_->model->getComponentInfo()]() {
auto env_wrapper = std::make_shared<DefaultEnvironmentWrapper>(component_info, jts.getEnvironment());
EnvironmentManager::set(env_wrapper);
});
}
}

Expand Down Expand Up @@ -319,9 +323,13 @@ void JointTrajectoryWidget::onCurrentRowChanged(const QModelIndex& current, cons
// If no parent then it using the top most so no need to overwrite existing environment
if (data_->model->getComponentInfo()->hasParent())
{
auto env_wrapper =
std::make_shared<DefaultEnvironmentWrapper>(data_->model->getComponentInfo(), jts.getEnvironment());
EnvironmentManager::set(env_wrapper);
// Defer the EnvironmentManager::set() call to avoid blocking the UI
// Use a longer delay (100ms) to allow the UI to process other events first
constexpr int kDelayTimeMs = 100;
QTimer::singleShot(kDelayTimeMs, this, [this, jts, component_info = data_->model->getComponentInfo()]() {
auto env_wrapper = std::make_shared<DefaultEnvironmentWrapper>(component_info, jts.getEnvironment());
EnvironmentManager::set(env_wrapper);
});
}
}

Expand Down Expand Up @@ -353,15 +361,28 @@ void JointTrajectoryWidget::onCurrentRowChanged(const QModelIndex& current, cons

if (jts.getEnvironment() != nullptr && jts.getEnvironment()->isInitialized())
{
if (data_->model->getComponentInfo()->hasParent() && data_->current_environment != jts.getEnvironment())
auto env = jts.getEnvironment();
if (data_->model->getComponentInfo()->hasParent() && data_->current_environment != env)
{
auto env_wrapper =
std::make_shared<DefaultEnvironmentWrapper>(data_->model->getComponentInfo(), jts.getEnvironment());
EnvironmentManager::set(env_wrapper);
// Defer the EnvironmentManager::set() call
// Use a longer delay (100ms) to allow the UI to process other events first
constexpr int kDelayTimeMs = 100;
QTimer::singleShot(kDelayTimeMs, this, [this, env, component_info = data_->model->getComponentInfo()]() {
auto env_wrapper = std::make_shared<DefaultEnvironmentWrapper>(component_info, env);
EnvironmentManager::set(env_wrapper);
});
}

data_->current_environment = jts.getEnvironment();
data_->current_environment->setState(state.joint_names, state.position);
data_->current_environment = env;
// Defer setState() as well since it triggers currentStateChanged() which broadcasts events
// Capture state by value to avoid issues with local variable lifetime
constexpr int kDelayTimeMs = 100;
QTimer::singleShot(kDelayTimeMs, this, [this, env, state]() {
if (data_->current_environment == env && data_->current_environment != nullptr)
{
data_->current_environment->setState(state.joint_names, state.position);
}
});
}
}
catch (const std::runtime_error& ex)
Expand Down
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