Do not replan during planning phase in gui

Author: Mulo01

src/gui/PlannerGui.cpp

@@ -46,8 +46,8 @@ PlannerGui::PlannerGui(const std::string& dumpName): QObject()
     goalViz.updateData(dump.getGoal());
 
     planner->updateMap(dump.getMlsMap());
-    
-    startPlanThread();
+
+    planning = false;
 }
 
 
@@ -579,6 +579,11 @@ void PlannerGui::replanButtonReleased()
 
 void PlannerGui::startPlanThread()
 {
+
+    if (planning){
+        return;
+    }
+
     bar->setMaximum(0);
     std::thread t([this](){
 #ifdef ENABLE_DEBUG_DRAWINGS
@@ -598,8 +603,6 @@ void PlannerGui::plannerIsDone()
     trajViz2.updateData(beautifiedPath);
     trajViz2.setLineWidth(8);    
 
-    
-    
     trav3dViz.updateData((planner->getTraversabilityMap().copyCast<maps::grid::TraversabilityNodeBase *>()));
     obstacleMapViz.updateData((planner->getObstacleMap().copyCast<maps::grid::TraversabilityNodeBase *>()));
 
@@ -638,9 +641,11 @@ void PlannerGui::plan(const base::Pose& start, const base::Pose& goal)
     endState.orientation = goal.orientation;
 
     LOG_INFO_S << "Planning: " << start << " -> " << goal;
+    planning = true;
     const Planner::PLANNING_RESULT result = planner->plan(base::Time::fromSeconds(time->value()),
                                             startState, endState, path, beautifiedPath);
 
+    planning = false;
     switch(result)
     {
         case Planner::GOAL_INVALID:

src/gui/PlannerGui.h

@@ -74,6 +74,8 @@ private slots:
     void startPlanThread();
 
 private:
+
+    bool planning;
     vizkit3d::Vizkit3DWidget* widget;
     QDoubleSpinBox* maxSlopeSpinBox;
     QDoubleSpinBox* slopeMetricScaleSpinBox;