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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,77 +1,20 @@ | ||
| // Copyright (c) 2009, Willow Garage, Inc. | ||
| // Copyright 2024 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: | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // * 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 Willow Garage, 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. | ||
|
|
||
| // Author: Stuart Glaser | ||
|
|
||
| #ifndef REALTIME_TOOLS__REALTIME_BOX_H__ | ||
| #define REALTIME_TOOLS__REALTIME_BOX_H__ | ||
|
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| #include <mutex> | ||
| #include <string> | ||
|
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||
| namespace realtime_tools | ||
| { | ||
| /*! | ||
| Strongly suggested that you use an std::shared_ptr in this box to | ||
| guarantee realtime safety. | ||
| */ | ||
| template <class T> | ||
| class RealtimeBox | ||
| { | ||
| public: | ||
| explicit RealtimeBox(const T & initial = T()) : thing_(initial) {} | ||
|
|
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| void set(const T & value) | ||
| { | ||
| std::lock_guard<std::mutex> guard(thing_lock_RT_); | ||
| thing_ = value; | ||
| } | ||
|
|
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| void get(T & ref) | ||
| { | ||
| std::lock_guard<std::mutex> guard(thing_lock_RT_); | ||
| ref = thing_; | ||
| } | ||
|
|
||
| private: | ||
| // The thing that's in the box. | ||
| T thing_; | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| // Protects access to the thing in the box. This mutex is | ||
| // guaranteed to be locked for no longer than the duration of the | ||
| // copy, so as long as the copy is realtime safe and the OS has | ||
| // priority inheritance for mutexes, this lock can be safely locked | ||
| // from within realtime. | ||
| std::mutex thing_lock_RT_; | ||
| }; | ||
| #ifndef REALTIME_TOOLS__REALTIME_BOX_H_ | ||
| #define REALTIME_TOOLS__REALTIME_BOX_H_ | ||
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| } // namespace realtime_tools | ||
| #include "realtime_tools/realtime_box.hpp" | ||
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| #endif // REALTIME_TOOLS__REALTIME_BOX_H_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,77 @@ | ||
| // Copyright (c) 2009, Willow Garage, Inc. | ||
| // | ||
| // 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 Willow Garage, 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. | ||
|
|
||
| // Author: Stuart Glaser | ||
|
|
||
| #ifndef REALTIME_TOOLS__REALTIME_BOX_HPP_ | ||
| #define REALTIME_TOOLS__REALTIME_BOX_HPP_ | ||
|
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| #include <mutex> | ||
| #include <string> | ||
|
|
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| namespace realtime_tools | ||
| { | ||
| /*! | ||
| Strongly suggested that you use an std::shared_ptr in this box to | ||
| guarantee realtime safety. | ||
| */ | ||
| template <class T> | ||
| class RealtimeBox | ||
| { | ||
| public: | ||
| explicit RealtimeBox(const T & initial = T()) : thing_(initial) {} | ||
|
|
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| void set(const T & value) | ||
| { | ||
| std::lock_guard<std::mutex> guard(thing_lock_RT_); | ||
| thing_ = value; | ||
| } | ||
|
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||
| void get(T & ref) | ||
| { | ||
| std::lock_guard<std::mutex> guard(thing_lock_RT_); | ||
| ref = thing_; | ||
| } | ||
|
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| private: | ||
| // The thing that's in the box. | ||
| T thing_; | ||
|
|
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| // Protects access to the thing in the box. This mutex is | ||
| // guaranteed to be locked for no longer than the duration of the | ||
| // copy, so as long as the copy is realtime safe and the OS has | ||
| // priority inheritance for mutexes, this lock can be safely locked | ||
| // from within realtime. | ||
| std::mutex thing_lock_RT_; | ||
| }; | ||
|
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| } // namespace realtime_tools | ||
|
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| #endif // REALTIME_TOOLS__REALTIME_BOX_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,179 +1,20 @@ | ||
| // Copyright (c) 2013, hiDOF, Inc. | ||
| // Copyright 2024 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: | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // * 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 hiDOF, 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. | ||
|
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||
| /* | ||
| * Publishing ROS messages is difficult, as the publish function is | ||
| * not realtime safe. This class provides the proper locking so that | ||
| * you can call publish in realtime and a separate (non-realtime) | ||
| * thread will ensure that the message gets published over ROS. | ||
| * | ||
| * Author: Wim Meeussen | ||
| */ | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef REALTIME_TOOLS__REALTIME_BUFFER_H_ | ||
| #define REALTIME_TOOLS__REALTIME_BUFFER_H_ | ||
|
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| #include <chrono> | ||
| #include <mutex> | ||
| #include <thread> | ||
|
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| namespace realtime_tools | ||
| { | ||
| template <class T> | ||
| class RealtimeBuffer | ||
| { | ||
| public: | ||
| RealtimeBuffer() : new_data_available_(false) | ||
| { | ||
| // allocate memory | ||
| non_realtime_data_ = new T(); | ||
| realtime_data_ = new T(); | ||
| } | ||
|
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| /** | ||
| * @brief Constructor for objects that don't have | ||
| * a default constructor | ||
| * @param data The object to use as default value | ||
| */ | ||
| explicit RealtimeBuffer(const T & data) : new_data_available_(false) | ||
| { | ||
| // allocate memory | ||
| non_realtime_data_ = new T(data); | ||
| realtime_data_ = new T(data); | ||
| } | ||
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| ~RealtimeBuffer() | ||
| { | ||
| if (non_realtime_data_) { | ||
| delete non_realtime_data_; | ||
| } | ||
| if (realtime_data_) { | ||
| delete realtime_data_; | ||
| } | ||
| } | ||
|
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| RealtimeBuffer(const RealtimeBuffer & source) | ||
| { | ||
| // allocate memory | ||
| non_realtime_data_ = new T(); | ||
| realtime_data_ = new T(); | ||
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| // Copy the data from old RTB to new RTB | ||
| writeFromNonRT(*source.readFromNonRT()); | ||
| } | ||
|
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| /*! | ||
| * @brief Custom assignment operator | ||
| */ | ||
| RealtimeBuffer & operator=(const RealtimeBuffer & source) | ||
| { | ||
| if (this == &source) { | ||
| return *this; | ||
| } | ||
|
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| // Copy the data from old RTB to new RTB | ||
| writeFromNonRT(*source.readFromNonRT()); | ||
|
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| return *this; | ||
| } | ||
|
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| T * readFromRT() | ||
| { | ||
| // Check if the data is currently being written to (is locked) | ||
| std::unique_lock<std::mutex> guard(mutex_, std::try_to_lock); | ||
| if (guard.owns_lock()) { | ||
| // swap pointers | ||
| if (new_data_available_) { | ||
| T * tmp = realtime_data_; | ||
| realtime_data_ = non_realtime_data_; | ||
| non_realtime_data_ = tmp; | ||
| new_data_available_ = false; | ||
| } | ||
| } | ||
| return realtime_data_; | ||
| } | ||
|
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| T * readFromNonRT() const | ||
| { | ||
| std::lock_guard<std::mutex> guard(mutex_); | ||
|
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| if (new_data_available_) { | ||
| return non_realtime_data_; | ||
| } else { | ||
| return realtime_data_; | ||
| } | ||
| } | ||
|
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| void writeFromNonRT(const T & data) | ||
| { | ||
| #ifdef NON_POLLING | ||
| std::lock_guard<std::mutex> guard(mutex_); | ||
| #else | ||
| std::unique_lock<std::mutex> guard(mutex_, std::defer_lock); | ||
| while (!guard.try_lock()) { | ||
| std::this_thread::sleep_for(std::chrono::microseconds(500)); | ||
| } | ||
| #endif | ||
|
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| // copy data into non-realtime buffer | ||
| *non_realtime_data_ = data; | ||
| new_data_available_ = true; | ||
| } | ||
|
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| void initRT(const T & data) | ||
| { | ||
| *non_realtime_data_ = data; | ||
| *realtime_data_ = data; | ||
| } | ||
|
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| void reset() | ||
| { | ||
| // delete the old memory | ||
| if (non_realtime_data_) { | ||
| delete non_realtime_data_; | ||
| } | ||
| if (realtime_data_) { | ||
| delete realtime_data_; | ||
| } | ||
|
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| // allocate memory | ||
| non_realtime_data_ = new T(); | ||
| realtime_data_ = new T(); | ||
| } | ||
|
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| private: | ||
| T * realtime_data_; | ||
| T * non_realtime_data_; | ||
| bool new_data_available_; | ||
|
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| // Set as mutable so that readFromNonRT() can be performed on a const buffer | ||
| mutable std::mutex mutex_; | ||
| }; // class | ||
| #include "realtime_tools/realtime_buffer.hpp" | ||
|
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| } // namespace realtime_tools | ||
| #endif // REALTIME_TOOLS__REALTIME_BUFFER_H_ |
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