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Async Function Handler for Controllers #1489

Merged
merged 91 commits into from
Oct 17, 2024
Merged

Async Function Handler for Controllers #1489

merged 91 commits into from
Oct 17, 2024

Commits on Sep 26, 2024

  1. Add first version of the async controllers

    @saikishor
    saikishor committed Sep 26, 2024
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  2. removed extra notify one

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  3. added async_update_ready_ to use with conditional variable to avoid s… 

    …purious wakeups
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    saikishor committed Sep 26, 2024
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  4. call notify_one after setting the async_update_ready

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    saikishor committed Sep 26, 2024
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  5. add precommit changes

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    saikishor committed Sep 26, 2024
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  6. add missing this in the conditional variable callback

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  7. change atomic bool to normal bool

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  8. add wait_for_update_to_finish method

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    saikishor committed Sep 26, 2024
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  9. add notify_one in different places to wait properly to finish update … 

    …cycle
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  10. added unique lock and check with try_lock for triggering calls

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  11. use try_to_lock for better checking of owning the lock or not

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    saikishor committed Sep 26, 2024
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  12. add current update time and period to be able to update them

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    saikishor committed Sep 26, 2024
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  13. update documentation of the async method

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    saikishor committed Sep 26, 2024
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  14. added some comments about the issue with the get_state method

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    saikishor committed Sep 26, 2024
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  15. use atomic_bool

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    saikishor committed Sep 26, 2024
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  16. minor change in the logic

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    saikishor committed Sep 26, 2024
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  17. initialize the duration to fix the compilation error

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    saikishor committed Sep 26, 2024
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  18. Move the main async logic into a separate method

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  19. Add async function handler to handle parsed functions

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  20. add missing template typenames on functions

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  21. set wait_for_update_to_finish to const

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  22. change async_update_ready_ to atomic bool

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  23. use also async_update_stop_ also in the conditional wait predicate fu… 

    …ncton
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  24. Add some utility methods

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  25. modify the std::function arguments of async_update method

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  26. Fix the issue with the overidding template names and typo in the std:… 

    …:function
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  27. fix the wait for update to finish method

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  28. Check if the parsed functions are valid or not in the init method

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  29. unlock the mutex before notifying the conditional variable

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  30. Do not check if the thread is joinable in the is_initialized method

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  31. added a explicit method to join the async thread

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  32. Add missing includes

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    saikishor committed Sep 26, 2024
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  33. change the way the initialization in done

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    saikishor committed Sep 26, 2024
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  34. Added tests for the new async function handler

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  35. extend the tests with another loop

    @saikishor
    saikishor committed Sep 26, 2024
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  36. Added test case to check for triggering

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    saikishor committed Sep 26, 2024
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  37. Also test the case of triggering without initialization

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  38. Add test triggering the handler for several cycles

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  39. Add the test cases of changes in the lifecycle state

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    saikishor committed Sep 26, 2024
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  40. remove is_async method and added is_preempted method + changes to the… 

    … tests
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    saikishor committed Sep 26, 2024
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  41. Use the AsyncFunctionHandler instead of implementing in the controlle… 

    …r_interface
    @saikishor
    saikishor committed Sep 26, 2024
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  42. Add documentation to the methods

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    saikishor committed Sep 26, 2024
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  43. remove the arguments to initialize_async_update_thread method

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  44. simplify the is_initialized method check 

    Co-authored-by: Jordan Palacios <j.palacios1986@gmail.com>
    @saikishor @jordan-palacios
    saikishor and jordan-palacios committed Sep 26, 2024
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  45. rename preempt_async_update to stop_async_update

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    saikishor committed Sep 26, 2024
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  46. Separate the exceptions for the parsed methods

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  47. change the exception inside the initialize_async_update_thread

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  48. move the test implementations to the cpp file

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  49. Remove the unlock when preempted as the lock goes out of scope

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  50. rename async_update_ready_ to trigger_in_progress_

    @saikishor
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  51. update the docs

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  52. rename the method wait_for_update_to_finish to wait_for_trigger_cycle… 

    …_to_finish for better meaning
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  53. Add documentation to the trigger_update method and add it to the cont… 

    …roller_manager
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    saikishor committed Sep 26, 2024
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  54. added a method to stop the async update cycle before deactivating the… 

    … controller
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  55. return std::pair to check if the trigger is successful or not

    @saikishor
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  56. update the runtime error throw message

    @saikishor
    saikishor committed Sep 26, 2024
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  57. rename is_preempted to is_stopped for the context of the threads

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    saikishor committed Sep 26, 2024
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  58. change EXPECT_THROW to ASSERT_THROW

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    saikishor committed Sep 26, 2024
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  59. Update the documentation of the init return entity

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  60. Fix the doc of stop_async_update_cycle 

    Co-authored-by: Jordan Palacios <j.palacios1986@gmail.com>
    @saikishor @jordan-palacios
    saikishor and jordan-palacios committed Sep 26, 2024
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  61. add minor information

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    saikishor committed Sep 26, 2024
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  62. add missing functional include

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    saikishor committed Sep 26, 2024
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  63. check if lock is owned or not before in the condition 

    Co-authored-by: atzaros <128592691+atzaros@users.noreply.github.com>
    @saikishor @atzaros
    saikishor and atzaros committed Sep 26, 2024
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  64. Use separated arguments for better clarity

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    saikishor committed Sep 26, 2024
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  65. Move the lock within a scope to avoid exclusive unlock within the thread

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  66. notify other waiting threads before stopping

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  67. Scope the lock to avoid manual unlock in the trigger_async_update method

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  68. Update async_update_stop_ within the scope of the lock to avoid missi… 

    …ng notify
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  69. Add new conditional variable to have unexpected behavior when working… 

    … between threads
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  70. Changes for the starting thread upon activation

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  71. remove unused notify at the end of the thread

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  72. simplify the logic inside the thread 

    Co-authored-by: atzaros <128592691+atzaros@users.noreply.github.com>
    @saikishor @atzaros
    saikishor and atzaros committed Sep 26, 2024
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  73. add pre-commit formatting changes

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  74. remove the AsyncControllerThread integration to replace it with Async… 

    …FunctionHandler
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  75. move the async function handler to the realtime_tools and integrate f… 

    …rom it
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  76. start the async thread when configuring the controller

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  77. remove the get_state bind for API change

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  78. add new API naming changes

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  79. added thread priority argument to be able to set the scheduler priority

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  80. stop the thread on cleanup of the controller

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  81. wait for cycle to finish in the switch controllers before deactivatin… 

    …g the controller
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  82. fix the thread_priority parameter declaration type

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  83. change conditioning to not trigger logging for a failed return as well

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  84. Add tests for the async controller

    @saikishor
    saikishor committed Sep 26, 2024
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Commits on Oct 17, 2024

  1. Update controller_interface/src/controller_interface_base.cpp 

    Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
    @saikishor @bmagyar
    saikishor and bmagyar authored Oct 17, 2024
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  2. Merge branch 'master' into async_controllers

    @saikishor
    saikishor authored Oct 17, 2024
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  3. Update controller_interface/include/controller_interface/controller_i… 

    …nterface_base.hpp
    @destogl
    destogl authored Oct 17, 2024
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  4. Fixing pre-commit.

    @destogl
    destogl committed Oct 17, 2024
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  5. skip triggeting update cycle before deactivating the async controller

    @saikishor
    saikishor committed Oct 17, 2024
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  6. fix the testing for the recent change in the deactivation scheme

    @saikishor
    saikishor committed Oct 17, 2024
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  7. Add controller update stats to print every 20 seconds when there is a… 

    … missed trigger
    @saikishor
    saikishor committed Oct 17, 2024
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