Merge branch 'master' into feature/realtime-barrier

CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package realtime_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.0 (2022-11-19)
+------------------
+* bug fix for RealtimePublisher with NON_POLLING (`#85 <https://github.com/ros-controls/realtime_tools/issues/85>`_)
+* ci: :construction_worker: update rhel container (`#92 <https://github.com/ros-controls/realtime_tools/issues/92>`_)
+* Make `thread_priority` a shared library (`#91 <https://github.com/ros-controls/realtime_tools/issues/91>`_)
+* Contributors: Andy Zelenak, Jaron Lundwall, Yoav Fekete, Denis Štogl
+
 2.3.0 (2022-08-26)
 ------------------
 * Fix source-based branch names (`#90 <https://github.com/ros-controls/realtime_tools/issues/90>`_)

CMakeLists.txt

@@ -38,6 +38,11 @@ if(BUILD_TESTING)
   ament_add_gmock(realtime_clock_tests test/realtime_clock_tests.cpp)
   target_link_libraries(realtime_clock_tests ${PROJECT_NAME} ${GMOCK_MAIN_LIBRARIES})
 
+  ament_add_gmock(realtime_publisher_tests_non_polling
+                  test/realtime_publisher_non_polling.test test/realtime_publisher_tests_non_polling.cpp)
+  target_link_libraries(realtime_publisher_tests_non_polling ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
+  target_include_directories(realtime_publisher_tests_non_polling PRIVATE ${test_msgs_INCLUDE_DIRS})
+
   ament_add_gmock(realtime_publisher_tests test/realtime_publisher.test test/realtime_publisher_tests.cpp)
   target_link_libraries(realtime_publisher_tests ${PROJECT_NAME} ${test_msgs_LIBRARIES} ${GMOCK_MAIN_LIBRARIES})
   target_include_directories(realtime_publisher_tests PRIVATE ${test_msgs_INCLUDE_DIRS})

include/realtime_tools/realtime_publisher.h

@@ -166,10 +166,16 @@ class RealtimePublisher
       Msg outgoing;
 
       // Locks msg_ and copies it
+
+#ifdef NON_POLLING
+      std::unique_lock<std::mutex> lock_(msg_mutex_);
+#else
       lock();
+#endif
+
       while (turn_ != NON_REALTIME && keep_running_) {
 #ifdef NON_POLLING
-        updated_cond_.wait(lock);
+        updated_cond_.wait(lock_);
 #else
         unlock();
         std::this_thread::sleep_for(std::chrono::microseconds(500));

package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>realtime_tools</name>
-  <version>2.3.0</version>
+  <version>2.4.0</version>
   <description>Contains a set of tools that can be used from a hard
     realtime thread, without breaking the realtime behavior.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

test/realtime_publisher_non_polling.test

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <test test-name="realtime_publisher_tests_non_polling" pkg="realtime_tools" type="realtime_publisher_tests_non_polling" />
+</launch>

test/realtime_publisher_tests_non_polling.cpp

@@ -0,0 +1,95 @@
+// Copyright (c) 2019, ros2_control development team
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Open Source Robotics Foundation, Inc. nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#define NON_POLLING
+
+#include <gmock/gmock.h>
+
+#include <chrono>
+#include <memory>
+#include <mutex>
+#include <thread>
+
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
+#include "realtime_tools/realtime_publisher.h"
+#include "test_msgs/msg/strings.hpp"
+
+using StringMsg = test_msgs::msg::Strings;
+using realtime_tools::RealtimePublisher;
+
+TEST(RealtimePublisherNonPolling, construct_destruct) { RealtimePublisher<StringMsg> rt_pub; }
+
+struct StringCallback
+{
+  StringMsg msg_;
+  std::mutex mtx_;
+
+  void callback(const StringMsg::SharedPtr msg)
+  {
+    std::unique_lock<std::mutex> lock(mtx_);
+    msg_ = *msg;
+  }
+};
+
+TEST(RealtimePublisherNonPolling, rt_publish)
+{
+  rclcpp::init(0, nullptr);
+  const size_t ATTEMPTS = 10;
+  const std::chrono::milliseconds DELAY(250);
+
+  const char * expected_msg = "Hello World";
+  auto node = std::make_shared<rclcpp::Node>("construct_move_destruct");
+  rclcpp::QoS qos(10);
+  qos.reliable().transient_local();
+  auto pub = node->create_publisher<StringMsg>("~/rt_publish", qos);
+  RealtimePublisher<StringMsg> rt_pub(pub);
+  // publish a latched message
+  bool lock_is_held = rt_pub.trylock();
+  for (size_t i = 0; i < ATTEMPTS && !lock_is_held; ++i) {
+    lock_is_held = rt_pub.trylock();
+    std::this_thread::sleep_for(DELAY);
+  }
+  ASSERT_TRUE(lock_is_held);
+  rt_pub.msg_.string_value = expected_msg;
+  rt_pub.unlockAndPublish();
+
+  // make sure subscriber gets it
+  StringCallback str_callback;
+
+  auto sub = node->create_subscription<StringMsg>(
+    "~/rt_publish", qos,
+    std::bind(&StringCallback::callback, &str_callback, std::placeholders::_1));
+  for (size_t i = 0; i < ATTEMPTS && str_callback.msg_.string_value.empty(); ++i) {
+    rclcpp::spin_some(node);
+    std::this_thread::sleep_for(DELAY);
+  }
+  EXPECT_STREQ(expected_msg, str_callback.msg_.string_value.c_str());
+  rclcpp::shutdown();
+}