feat: Add ClockWaiter and ClockConditionalVariable #2691
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added 2 commits
December 2, 2024 17:56
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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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 🧇 |
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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 ?