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ros-controls / ros2_control Public

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Async Function Handler for Controllers#1489

Merged

destogl merged 91 commits intoros-controls:masterros-controls/ros2_control:masterfrom saikishor:async_controllerssaikishor/ros2_control:async_controllersCopy head branch name to clipboard

Oct 17, 2024

+320-142

Conversation Commits91 (91)Checks Files changed

Commits

Commits on Sep 26, 2024

Add first version of the async controllers
saikishor
committed
removed extra notify one
saikishor
committed
added async_update_ready_ to use with conditional variable to avoid spurious wakeups
saikishor
committed
call notify_one after setting the async_update_ready
saikishor
committed
add precommit changes
saikishor
committed
add missing this in the conditional variable callback
saikishor
committed
change atomic bool to normal bool
saikishor
committed
add wait_for_update_to_finish method
saikishor
committed
add notify_one in different places to wait properly to finish update cycle
saikishor
committed
added unique lock and check with try_lock for triggering calls
saikishor
committed
use try_to_lock for better checking of owning the lock or not
saikishor
committed
add current update time and period to be able to update them
saikishor
committed
update documentation of the async method
saikishor
committed
added some comments about the issue with the get_state method
saikishor
committed
use atomic_bool
saikishor
committed
minor change in the logic
saikishor
committed
initialize the duration to fix the compilation error
saikishor
committed
Move the main async logic into a separate method
saikishor
committed
Add async function handler to handle parsed functions
saikishor
committed
add missing template typenames on functions
saikishor
committed
set wait_for_update_to_finish to const
saikishor
committed
change async_update_ready_ to atomic bool
saikishor
committed
use also async_update_stop_ also in the conditional wait predicate functon
saikishor
committed
Add some utility methods
saikishor
committed
modify the std::function arguments of async_update method
saikishor
committed
Fix the issue with the overidding template names and typo in the std::function
saikishor
committed
fix the wait for update to finish method
saikishor
committed
Check if the parsed functions are valid or not in the init method
saikishor
committed
unlock the mutex before notifying the conditional variable
saikishor
committed
Do not check if the thread is joinable in the is_initialized method
saikishor
committed
added a explicit method to join the async thread
saikishor
committed
Add missing includes
saikishor
committed
change the way the initialization in done
saikishor
committed
Added tests for the new async function handler
saikishor
committed
extend the tests with another loop
saikishor
committed
Added test case to check for triggering
saikishor
committed
Also test the case of triggering without initialization
saikishor
committed
Add test triggering the handler for several cycles
saikishor
committed
Add the test cases of changes in the lifecycle state
saikishor
committed
remove is_async method and added is_preempted method + changes to the tests
saikishor
committed
Use the AsyncFunctionHandler instead of implementing in the controller_interface
saikishor
committed
Add documentation to the methods
saikishor
committed
remove the arguments to initialize_async_update_thread method
saikishor
committed
simplify the is_initialized method check

saikishor
and
jordan-palacios
committed
rename preempt_async_update to stop_async_update
saikishor
committed
Separate the exceptions for the parsed methods
saikishor
committed
change the exception inside the initialize_async_update_thread
saikishor
committed
move the test implementations to the cpp file
saikishor
committed
Remove the unlock when preempted as the lock goes out of scope
saikishor
committed
rename async_update_ready_ to trigger_in_progress_
saikishor
committed
update the docs
saikishor
committed
rename the method wait_for_update_to_finish to wait_for_trigger_cycle_to_finish for better meaning
saikishor
committed
Add documentation to the trigger_update method and add it to the controller_manager
saikishor
committed
added a method to stop the async update cycle before deactivating the controller
saikishor
committed
return std::pair to check if the trigger is successful or not
saikishor
committed
update the runtime error throw message
saikishor
committed
rename is_preempted to is_stopped for the context of the threads
saikishor
committed
change EXPECT_THROW to ASSERT_THROW
saikishor
committed
Update the documentation of the init return entity
saikishor
committed
Fix the doc of stop_async_update_cycle

saikishor
and
jordan-palacios
committed
add minor information
saikishor
committed
add missing functional include
saikishor
committed
check if lock is owned or not before in the condition

saikishor
and
atzaros
committed
Use separated arguments for better clarity
saikishor
committed
Move the lock within a scope to avoid exclusive unlock within the thread
saikishor
committed
notify other waiting threads before stopping
saikishor
committed
Scope the lock to avoid manual unlock in the trigger_async_update method
saikishor
committed
Update async_update_stop_ within the scope of the lock to avoid missing notify
saikishor
committed
Add new conditional variable to have unexpected behavior when working between threads
saikishor
committed
Changes for the starting thread upon activation
saikishor
committed
remove unused notify at the end of the thread
saikishor
committed
simplify the logic inside the thread

saikishor
and
atzaros
committed
add pre-commit formatting changes
saikishor
committed
remove the AsyncControllerThread integration to replace it with AsyncFunctionHandler
saikishor
committed
move the async function handler to the realtime_tools and integrate from it
saikishor
committed
start the async thread when configuring the controller
saikishor
committed
remove the get_state bind for API change
saikishor
committed
add new API naming changes
saikishor
committed
added thread priority argument to be able to set the scheduler priority
saikishor
committed
stop the thread on cleanup of the controller
saikishor
committed
wait for cycle to finish in the switch controllers before deactivating the controller
saikishor
committed
fix the thread_priority parameter declaration type
saikishor
committed
change conditioning to not trigger logging for a failed return as well
saikishor
committed
Add tests for the async controller
saikishor
committed

Commits on Oct 17, 2024

Update controller_interface/src/controller_interface_base.cpp

saikishor
and
bmagyar
authored
Merge branch 'master' into async_controllers
saikishor
authored
Update controller_interface/include/controller_interface/controller_interface_base.hpp
destogl
authored
Fixing pre-commit.
destogl
committed
skip triggeting update cycle before deactivating the async controller
saikishor
committed
fix the testing for the recent change in the deactivation scheme
saikishor
committed
Add controller update stats to print every 20 seconds when there is a missed trigger
saikishor
committed

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