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Working async controllers and components [not synchronized] (backport #1041) #1528

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Working async controllers and components [not synchronized] (backport #1041) #1528

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mergify[bot]
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@mergify mergify bot commented May 8, 2024

I haven't found a good way to synchronize the controllers / components with the ros2 control node's thread without changing a lot of stuff inside the handles (and controllers), and since they are getting reworked anyway, I thought I'll wait until then.

Before that, this solution assumes that all writes to the command interfaces' double values are atomic operations.

This is an automatic backport of pull request #1041 done by Mergify.

@VX792 @mergify
Working async controllers and components [not synchronized] (#1041)
efd8006 
(cherry picked from commit 2cbe470)

# Conflicts:
#	controller_manager/include/controller_manager/controller_manager.hpp
#	controller_manager/src/controller_manager.cpp
#	hardware_interface/include/hardware_interface/async_components.hpp
#	hardware_interface/src/resource_manager.cpp
@mergify mergify bot added the conflicts label May 8, 2024
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mergify bot commented May 8, 2024

Cherry-pick of 2cbe470 has failed:

On branch mergify/bp/humble/pr-1041
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 2cbe470.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	new file:   controller_interface/include/controller_interface/async_controller.hpp
	modified:   controller_manager/src/ros2_control_node.cpp
	modified:   hardware_interface/include/hardware_interface/resource_manager.hpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   controller_manager/include/controller_manager/controller_manager.hpp
	both modified:   controller_manager/src/controller_manager.cpp
	deleted by us:   hardware_interface/include/hardware_interface/async_components.hpp
	both modified:   hardware_interface/src/resource_manager.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

@mergify mergify bot mentioned this pull request May 8, 2024
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@christophfroehlich
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This is outdated and replaced by a newer implementation on rolling/jazzy.

@christophfroehlich christophfroehlich deleted the mergify/bp/humble/pr-1041 branch November 4, 2024 19:30
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@christophfroehlich @VX792