Add mutex

UML1/superpooh.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <boost/asio.hpp>
 #include <boost/array.hpp>
+#include <mutex>
 
 using namespace std;
 
@@ -96,6 +97,8 @@ ECmd cmd = ENone;
 
 int counter = 0;
 
+std::mutex mtx;
+
 float targetH = 10.;
 
 float getHZadFromUser()
@@ -240,9 +243,9 @@ int model()
 
     while (cmd != EExit)
     {
-
+        mtx.lock();
         hZad = targetH; // Неблокирующая функция для получения высоты
-
+        mtx.unlock();
         if (abs(superpooh.getH() - hZad) < 1 && abs(t - lastT) > 5) {
             superpooh.eat(0.1);
             lastT = t;
@@ -277,15 +280,12 @@ int main() {
         boost::asio::ip::udp::socket socket(io_context, reciever);
 
         std::thread th(model);
-        char ch;
         while (cmd != EExit)
         {
             boost::array<char, 1> recv_b;
             boost::asio::ip::udp::endpoint remote_endpoint;
             size_t len = socket.receive_from(boost::asio::buffer(recv_b), remote_endpoint);
-            ch = *(recv_b.data());
             std::cout.write(recv_b.data(), len);
-            std::cout << ch << std::endl;
             if (*recv_b.data() == 'q') {
                 std::cout << "Exiting!" << std::endl;
                 cmd = EExit;
@@ -293,11 +293,15 @@ int main() {
             }
             if (*recv_b.data() == 'd') {
                 std::cout << "Going down!" << std::endl;
+                mtx.lock();
                 targetH = 0.;
+                mtx.unlock();
             }
             if (*recv_b.data() == 'u') {
                 std::cout << "Going up to 30 meters!" << std::endl;
+                mtx.lock();
                 targetH = 30.;
+                mtx.unlock();
             }
         }
     }