{"action":"opened","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8478","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8478/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8478/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8478/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/8478","id":325966740,"number":8478,"title":"AP_RangeFinder: LightwareI2C should use semaphores when copying to frontend","user":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"labels":[{"id":24259148,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/BUG","name":"BUG","color":"fc2929","default":false},{"id":136051782,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Library","name":"Library","color":"f7c6c7","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-05-24T05:13:38Z","updated_at":"2018-05-24T05:13:38Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"As discussed in [this PR related to the Maxbotix I2C sonar](https://github.com/ArduPilot/ardupilot/pull/8471), the LightwareI2C driver should:\r\n\r\n- maintain a copy of the latest distance within the LightwareI2C sonar.  it should take/give the _sem (semaphore) using BLOCKING_FOREVER when updating this local copy of the distance.\r\n- within the update function it should take/give the semaphore (using non-blocking) and copy the distance from the local copy to the state structure."}}
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