Add a synchronization mechanism for the AdvanceableRunner #403
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diegoferigo
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Sep 2, 2021
src/System/include/BipedalLocomotion/System/AdvanceableRunner.h
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GiulioRomualdi
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Hi @diegoferigo thank you for reviewing, I applied all the changes you suggested |
diegoferigo
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Sep 2, 2021
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The PR seems nice, but just to understand what is the intended use of this feature? |
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Hi @traversaro I used this feature here: GiulioRomualdi/centroidal-mpc-walking@8c11834 In this application, I've two blocks running at a different rate and I would like to start the two threads simultaneously |
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This PR introduces a synchronization mechanism for the
AdvanceableRunnerclass. TheBarrierclass has been developed, the code was taken from here.c++20 introduces the barrier class however since this repo is based on c++17, the implementation of this new class was required.
Barrieris then used in therunmethod of the advanceable runner to synchronize the startup of all the threads.