feat: Add ClockWaiter and ClockConditionalVariable #2691
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/next-client-library-wg-meeting-friday-6th-december-2024-8am-pt/40954/2 |
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Assigned @wjwwood, and recommend Client Library Working group review 🧇 |
rclcpp/src/rclcpp/clock.cpp
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Add documentation.
Especially document that system time will be used if ros time is not active
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@jmachowinski do we need to review this?
#2674 includes pretty much everything here?
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This is the rolling version of general useful code used in 2674. |
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Ah, i missed that, sorry. |
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Those classes have been already approved in jazzy to fix the action expired goal synchronization, so it will be better to keep those classes in rolling for maintainability.
i would like to request another review for this. CC: @alsora @mjcarroll @wjwwood
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The changes look good. |
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I added tests, and fixed a bug that I found through this... |
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Pulls: #2691
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This PR now depends on ros2/rcpputils#210 |
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Pulls: #2691
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Pulls: #2691
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Added two new synchronization primitives to perform waits using an rclcpp::Clock. Signed-off-by: Janosch Machowinski <[email protected]>
Signed-off-by: Janosch Machowinski <[email protected]>
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Pulls: #2691
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All failures in the CI are unrelated to this PR, I would say we are ready to merge. |
This replaces the Clock::cancel_sleep_or_wait with two new synchronization primitives, that can be instantiated separate from the Clock object.
The old API turned out the be a bad design, as one can not simply copy or create new clock objects.
If one copys a clock object, the same internal pimpl is copied, which is undesirable in combination with this API,
as they then all share the same conditional. Therefore one can't do sleeps with multiple threads without waking up
other threads.
If one tries to create a new clock, then there is no clockprovider registered to it. Leading to an unexpected
behavior in simulation mode. We should perhaps add a BIG warning to the constructor to not do this.
This merge request is a first step in reworking the clock code, and I want to get some feedback on the API / class names, before refactoring further.
@arneboe Can you have a look the documentation and API ?