move the async function handler to the realtime_tools and integrate f…

…rom it
ros-controls · Jun 12, 2024 · 4474281 · 4474281
1 parent 56e3229
commit 4474281
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Showing 7 changed files with 8 additions and 551 deletions.
diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -9,6 +9,7 @@ endif()
 set(THIS_PACKAGE_INCLUDE_DEPENDS
  hardware_interface
  rclcpp_lifecycle
+ realtime_tools
 )
 
 find_package(ament_cmake REQUIRED)
@@ -74,11 +75,6 @@ if(BUILD_TESTING)
  ament_target_dependencies(test_imu_sensor
  sensor_msgs
  )
-
- ament_add_gmock(test_async_function_handler test/test_async_function_handler.cpp)
- target_link_libraries(test_async_function_handler
- controller_interface
- )
 endif()
 
 install(

diff --git a/controller_interface/include/controller_interface/async_function_handler.hpp b/controller_interface/include/controller_interface/async_function_handler.hpp
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -20,8 +20,8 @@
 #include <utility>
 #include <vector>
 
-#include "controller_interface/async_function_handler.hpp"
 #include "controller_interface/visibility_control.h"
+#include "realtime_tools/async_function_handler.hpp"
 
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
@@ -286,7 +286,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
 
 private:
  std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
- std::unique_ptr<ros2_control::AsyncFunctionHandler<return_type>> async_handler_;
+ std::unique_ptr<realtime_tools::AsyncFunctionHandler<return_type>> async_handler_;
 };
 
 using ControllerInterfaceBaseSharedPtr = std::shared_ptr<ControllerInterfaceBase>;

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -12,12 +12,16 @@
  <buildtool_depend>ament_cmake_gen_version_h</buildtool_depend>
 
  <build_depend>hardware_interface</build_depend>
+ <build_depend>realtime_tools</build_depend>
  <build_depend>rclcpp_lifecycle</build_depend>
  <build_depend>sensor_msgs</build_depend>
 
  <build_export_depend>hardware_interface</build_export_depend>
+ <build_export_depend>realtime_tools</build_export_depend>
  <build_export_depend>rclcpp_lifecycle</build_export_depend>
 
+ <exec_depend>realtime_tools</exec_depend>
+
  <test_depend>ament_cmake_gmock</test_depend>
  <test_depend>sensor_msgs</test_depend>
 

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -97,7 +97,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
  }
  if (is_async_)
  {
- async_handler_ = std::make_unique<ros2_control::AsyncFunctionHandler<return_type>>();
+ async_handler_ = std::make_unique<realtime_tools::AsyncFunctionHandler<return_type>>();
  async_handler_->init(
  std::bind(&ControllerInterfaceBase::get_state, this),
  std::bind(