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Dispatcher Executor#87

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JanStaschulat wants to merge 50 commits intoros2:masterros2/rclc:masterfrom micro-ROS:feature/rbs-nuttxmicro-ROS/rclc:feature/rbs-nuttxCopy head branch name to clipboard

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Commits on Aug 18, 2021

• initial commit - pseudo code.

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• update

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• review

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• initial version with thread objects

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• added unit test base_line in test_executor_multi_threading

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• update data structures for worker threads

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• pthread_create done

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• updated executor thread

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• added functions for multithreading, worker_thread, executor_thread, helper functions

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• threading and DDS access okay - seg fault at rcl_wait in unit test

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• unit test OK with two subscriptions and two threads.

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• enabled trigger guard condition.

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• added scheduling policy and scheduling attributes to thread creation. creation of threads does not work on the micro-ros board, yet. green light is blinking and no response from nsh shell. updated …

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• working on multithreaded for nuttx - main-thread does not continue processing - for some reason.

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• version runs on Olimex board with NuttX and assignment of priorities. New mutex micro_ros_mutex for guarding access to rcl-layer including any potential rcl_publish in subscription callbacks, remov…

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• added setschedpolicy for worker threads

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• activated SCHED_SPORADIC to pthread_attr_setschedpolicy function.

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• working setup - added rclc_executor_publish() function and a scheduling parameter with both policy and sched param.

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• added debugging outout

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• baseline for compiling with Rolling

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• baseline multi-threaded executor, unit tests pass on Rolling

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• update ci.yml for Rolling

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• copied ci.yml from master branch

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• moved multi-threaded executor functions in seperate file

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• Merge branch 'master' into feature/rbs-nuttx

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• resolving compile errors due to merge conflicts to 'rebase master'

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• minor change

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Commits on Oct 13, 2022

• ping workflow

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• Merge branch 'master' into feature/rbs-nuttx

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• updated handle enum types

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• uncrustify

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• reviewer comment 1

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• removed code for guard_condition and dead code, created a new branch https://github.com/micro-ros/rclc/tree/feature/dispatcher-executor-with-guard-condition-check

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• review 2

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Commits on Oct 15, 2022

• Update rclc/src/rclc/multi_threaded_executor.c

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• Update rclc/src/rclc/multi_threaded_executor.c

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Commits on Oct 16, 2022

• Update rclc_examples/src/example_pingpong.cpp

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• Update rclc/src/rclc/multi_threaded_executor.c

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• Update rclc/src/rclc/multi_threaded_executor.c

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• Update rclc/src/rclc/multi_threaded_executor.c

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• replaced variable 'e' by 'executor'

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• removed redundant include

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• removed outdated comment.

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• made a comment on include order

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Commits on Nov 24, 2022

• baseline for package rclc_dispatching_executor

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• updated package.xml

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Commits on Dec 14, 2022

• refactored executor and handle regarding multi-threaded variables

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Commits on Dec 16, 2022

• changed names in functions and file-name to 'rclc_dispatcher_executor'

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• added example for dispatcher executor

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• updated todo list and some more introspection of Linux priority of worker threads

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