Add mutexes for Camera

app/admin_panel/js/behaviour_tree.js

@@ -17,7 +17,7 @@ function stopBehaviourTree(_event, _args) {
 
 function getBehaviourTreeList() {
     const store = getStore();
-    return store.behaviour_tree_list;
+    return store.get("behaviour_tree_list");
 }
 
 /**

app/admin_panel/js/store.js

@@ -6,6 +6,7 @@ const schema = {
     }
 }
 
+/** @returns {Store} */
 function getStore() {
     const store = new Store(schema);
     return store;

app/admin_panel/src/lib/BehaviourTreeHandler.svelte

@@ -7,7 +7,11 @@
         show_behaviour_tree_save_modal,
     } from "../store/behaviour_tree_code_store";
 
-    let behaviour_tree_list = [];
+    let behaviour_tree_list = []
+    async function main() {
+        behaviour_tree_list = await api.getBehaviourTreeList();
+    }
+    main()
 </script>
 
 <div class="w-full h-full bg-white dark:bg-gray-800">
@@ -22,12 +26,14 @@
     <Card
         class="w-full max-w-full h-full max-h-full overflow-scroll my-4 gap-y-2"
     >
-        {#each behaviour_tree_list as a}
+        {#each behaviour_tree_list as behaviour_tree}
             <Card class="w-full max-w-full">
                 <h3>
-                    {a}
+                    {behaviour_tree.name === "" ? "[Empty Name]" : behaviour_tree.name}
                 </h3>
-                <Button color="blue">Load</Button>
+                <Button color="blue" on:click={()=>{
+                    $behaviour_tree_xml_code = behaviour_tree.code;
+                }}>Load</Button>
             </Card>
         {/each}
     </Card>

app/rpi/common/include/car/system/device/CameraDevice.h

@@ -16,7 +16,7 @@ namespace car::system::device
 	class CameraDevice
 	{
 	public:
-		CameraDevice(std::unique_ptr<cv::VideoCapture> camera, int camera_index) : camera_(std::move(camera)), camera_index_(camera_index) {}
+		CameraDevice(int camera_index) : camera_index_(camera_index) {}
 
 		CameraDevice(const CameraDevice&) = delete;
 		CameraDevice& operator=(const CameraDevice&) = delete;
@@ -46,6 +46,8 @@ namespace car::system::device
 
 		bool connected_ = false;
 		std::string frame_buffer_;
+
+		std::mutex camera_mutex_;
 	};
 }
 

app/rpi/common/include/car/system/device/lidar/LidarDevice.h

@@ -39,8 +39,6 @@ namespace car::system::device::lidar
 		}
 
 		std::vector<Measure> scan_data_;
-
-		std::mutex scan_data_mutex_;
 	};
 }
 

app/rpi/common/include/car/system/device/lidar/LidarScanner.h

@@ -94,6 +94,8 @@ namespace car::system::device::lidar
 
 		std::unique_ptr<RPLidar> lidar_;
 		std::variant<std::function<std::vector<Measure>()>, nullptr_t> scan_generator_ = nullptr;
+
+		std::mutex scan_data_mutex_;
 	};
 }
 

app/rpi/common/src/car/system/device/CameraDevice.cpp

@@ -5,19 +5,21 @@ namespace car::system::device
 	tl::expected<std::unique_ptr<CameraDevice>, std::string> CameraDevice::create(std::shared_ptr<configuration::Configuration> configuration)
 	{
 		try {
-			std::unique_ptr<cv::VideoCapture> video_capture = std::make_unique<cv::VideoCapture>();
-			return std::make_unique<CameraDevice>(std::move(video_capture), configuration->camera_index);
+			return std::make_unique<CameraDevice>(configuration->camera_index);
 		}
 		catch (const std::exception& e) {
 			return tl::make_unexpected(e.what());
 		}
 	}
 
 	void CameraDevice::start() {
+		std::lock_guard<std::mutex> lock(this->camera_mutex_);
+		this->camera_ = std::make_unique<cv::VideoCapture>();
 		this->connected_ = this->camera_->open(this->camera_index_);
 	}
 
 	void CameraDevice::update() {
+		std::lock_guard<std::mutex> lock(this->camera_mutex_);
 		if (!this->connected_ || !this->camera_->isOpened()) {
 			this->frame_buffer_ = "";
 			return;
@@ -38,6 +40,7 @@ namespace car::system::device
 	}
 
 	void CameraDevice::stop() {
+		std::lock_guard<std::mutex> lock(this->camera_mutex_);
 		this->camera_->release();
 	}