added new API to get the threads and also the progress boolean

ros-controls · Jun 13, 2024 · 28bb919 · 28bb919
1 parent 9695ad6
commit 28bb919
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Showing 2 changed files with 18 additions and 0 deletions.
diff --git a/include/realtime_tools/async_function_handler.hpp b/include/realtime_tools/async_function_handler.hpp
@@ -181,6 +181,18 @@ class AsyncFunctionHandler
    */
   bool is_stopped() const { return async_update_stop_; }
 
+  /// Get the async update thread
+  /**
+   * @return The async update thread
+   */
+  std::thread & get_thread() { return thread_; }
+
+  /// Check if the async update method is in progress
+  /**
+   * @return True if the async update method is in progress, false otherwise
+   */
+  bool is_trigger_cycle_in_progress() const { return trigger_in_progress_; }
+
   /// Stops the async update thread
   /**
    * If the async method is running, it will notify the async thread to stop and then joins the

diff --git a/test/test_async_function_handler.cpp b/test/test_async_function_handler.cpp
@@ -123,7 +123,10 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering)
   ASSERT_TRUE(async_class.get_handler().is_initialized());
   ASSERT_TRUE(async_class.get_handler().is_running());
   ASSERT_FALSE(async_class.get_handler().is_stopped());
+  ASSERT_TRUE(async_class.get_handler().get_thread().joinable());
+  ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
   async_class.get_handler().wait_for_trigger_cycle_to_finish();
+  ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
   ASSERT_EQ(async_class.get_counter(), 1);
 
   // Trigger one more cycle
@@ -164,6 +167,7 @@ TEST_F(AsyncFunctionHandlerTest, trigger_for_several_cycles)
       ASSERT_TRUE(async_class.get_handler().is_running());
       ASSERT_FALSE(async_class.get_handler().is_stopped());
       async_class.get_handler().wait_for_trigger_cycle_to_finish();
+      ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
       ASSERT_EQ(async_class.get_counter(), i - missed_triggers);
     } else {
       missed_triggers++;
@@ -204,10 +208,12 @@ TEST_F(AsyncFunctionHandlerTest, test_with_deactivate_and_activate_cycles)
     const auto trigger_status = async_class.trigger();
     ASSERT_TRUE(trigger_status.first);
     ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
+    ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
     ASSERT_TRUE(async_class.get_handler().is_initialized());
     ASSERT_TRUE(async_class.get_handler().is_running());
     ASSERT_FALSE(async_class.get_handler().is_stopped());
     async_class.get_handler().wait_for_trigger_cycle_to_finish();
+    ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
     ASSERT_EQ(async_class.get_counter(), i);
     std::this_thread::sleep_for(std::chrono::microseconds(1));
   }