Fix crash on exit + minor improvements (#1894)

* [trik-runtime] latest fixes
** Crash in script thread shutdown 
* Fix crash on exit + minor improvements
** Fixed problem with global QMap concurrent access

Author: iakov

plugins/robots/common/kitBase/include/kitBase/blocksBase/common/deviceBlock.h

@@ -36,7 +36,7 @@ class DeviceBlock : public RobotsBlock
 
 	void run() override
 	{
-		const robotModel::DeviceInfo deviceInfo = robotModel::DeviceInfo::create<Device>();
+		const robotModel::DeviceInfo &deviceInfo = robotModel::DeviceInfo::create<Device>();
 		const QString portProperty = eval<QString>("Port");
 		const QString port = !portProperty.isEmpty() ? portProperty :
 				deviceInfo.name()[0].toUpper() + deviceInfo.name().mid(1) + "Port";

plugins/robots/common/kitBase/include/kitBase/robotModel/deviceInfo.h

@@ -19,6 +19,8 @@
 #include <QtCore/QMetaObject>
 #include <QtCore/QMetaProperty>
 
+#include <QReadWriteLock>
+
 #include "direction.h"
 #include "kitBase/kitBaseDeclSpec.h"
 
@@ -30,12 +32,15 @@ namespace robotModel {
 class ROBOTS_KIT_BASE_EXPORT DeviceInfo
 {
 public:
+	/// Constructs invalid DeviceInfo instance.
+	DeviceInfo();
+
 	/// Creates a new instance of a Device descriptor. The resulting object will
 	/// correspond to a given type only if Q_OBJECT macro is used inside its declaration.
 	/// @warning Given device type must contain friendlyName() and direction() static functions
 	/// and Q_OBJECT macro.
 	template <typename T>
-	static DeviceInfo create()
+	static DeviceInfo &create()
 	{
 		// This line performs Q_OBJECT macro checking in the given type declaration.
 		// Without Q_OBJECT macro incorrect metaObject will be passed and it will lead
@@ -47,15 +52,13 @@ class ROBOTS_KIT_BASE_EXPORT DeviceInfo
 		const bool simulated = property(metaObject, "simulated") == "true";
 		const Direction direction = property(metaObject, "direction").toLower() == "input" ? input : output;
 		DeviceInfo result(metaObject, name, friendlyName, simulated, direction);
-		mCreatedInfos[QString(metaObject->className())] = result;
-		return result;
+		QWriteLocker w(&mRWLock);
+		auto &r = mCreatedInfos[QString(metaObject->className())] = std::move(result);
+		return r;
 	}
 
 	/// Deserializes inner string representation obtained by toString().
-	static DeviceInfo fromString(const QString &string);
-
-	/// Constructs invalid DeviceInfo instance.
-	DeviceInfo();
+	static DeviceInfo &fromString(const QString &string);
 
 	/// Serializes given device info into inner string representation.
 	QString toString() const;
@@ -115,6 +118,7 @@ class ROBOTS_KIT_BASE_EXPORT DeviceInfo
 
 	static QString property(const QMetaObject * const metaObject, const QString &name);
 
+	static QReadWriteLock mRWLock;
 	static QMap<QString, DeviceInfo> mCreatedInfos;
 
 	const QMetaObject *mDeviceType;

plugins/robots/common/kitBase/src/robotModel/deviceInfo.cpp

@@ -21,7 +21,9 @@
 
 using namespace kitBase::robotModel;
 
-QMap<QString, DeviceInfo> DeviceInfo::mCreatedInfos = QMap<QString, DeviceInfo>();
+QMap<QString, DeviceInfo> DeviceInfo::mCreatedInfos = {{QString(), DeviceInfo()}};
+QReadWriteLock DeviceInfo::mRWLock;
+
 
 DeviceInfo::DeviceInfo()
 	: mDeviceType(nullptr)
@@ -90,17 +92,15 @@ QString DeviceInfo::toString() const
 	return QString(mDeviceType ? mDeviceType->className() : QString());
 }
 
-DeviceInfo DeviceInfo::fromString(const QString &string)
+DeviceInfo &DeviceInfo::fromString(const QString &string)
 {
-	if (string.isEmpty()) {
-		return DeviceInfo();
-	}
-
-	if (!mCreatedInfos.contains(string)) {
+	QReadLocker r(&mRWLock);
+	auto i = mCreatedInfos.find(string);
+	if (i == mCreatedInfos.end()) {
 		throw qReal::Exception(QString("QMetaObject for %1 not found").arg(string));
 	}
 
-	return mCreatedInfos[string];
+	return *i;
 }
 
 QString DeviceInfo::property(const QMetaObject * const metaObject, const QString &name)

plugins/robots/common/twoDModel/src/engine/model/sensorsConfiguration.cpp

@@ -128,7 +128,7 @@ void SensorsConfiguration::deserialize(const QDomElement &element)
 
 		const PortInfo port = PortInfo::fromString(sensorNode.attribute("port"));
 
-		const DeviceInfo type = DeviceInfo::fromString(sensorNode.attribute("type"));
+		const DeviceInfo &type = DeviceInfo::fromString(sensorNode.attribute("type"));
 
 		const QString positionStr = sensorNode.attribute("position", "0:0");
 		const QStringList splittedStr = positionStr.split(":");

plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp

@@ -71,6 +71,8 @@ void TrikBrick::reset()
 	}
 
 	mTimers.clear();
+
+	Q_EMIT resetCompleted();
 }
 
 void TrikBrick::printToShell(const QString &msg)

plugins/robots/thirdparty/trikRuntime/trikRuntime

@@ -132,7 +132,7 @@
 <context>
     <name>trik::TrikBrick</name>
     <message>
-        <location filename="../../../../plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp" line="+82"/>
+        <location filename="../../../../plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp" line="+84"/>
         <location line="+76"/>
         <source>2d model shell part was not found</source>
         <translation type="unfinished"></translation>

qrtranslations/fr/plugins/robots/trikKitInterpreterCommon_fr.ts

@@ -196,7 +196,7 @@
 <context>
     <name>trik::TrikBrick</name>
     <message>
-        <location filename="../../../../plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp" line="+82"/>
+        <location filename="../../../../plugins/robots/interpreters/trikKitInterpreterCommon/src/trikbrick.cpp" line="+84"/>
         <location line="+76"/>
         <source>2d model shell part was not found</source>
         <translation>Консоль 2d модели не найдена</translation>