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Add Non-Blocking try_get_params Function for Real-Time Control Systems #205

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Merged
merged 3 commits into from
Jun 24, 2024
Merged

Add Non-Blocking try_get_params Function for Real-Time Control Systems #205

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88a4f64
add try_get_params
KentaKato Jun 13, 2024
d0d52f7
Update parameter_library_header
KentaKato Jun 18, 2024
28bbb4b
add test for `try_get_params` in example_test_gtest.cpp
KentaKato Jun 24, 2024
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17 changes: 13 additions & 4 deletions example/test/example_test_gtest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,17 +40,17 @@ class ExampleTest : public ::testing::Test {
void SetUp() {
example_test_node_ = std::make_shared<rclcpp::Node>("example_test_node");

std::shared_ptr<admittance_controller::ParamListener> param_listener =
std::make_shared<admittance_controller::ParamListener>(
example_test_node_->get_node_parameters_interface());
params_ = param_listener->get_params();
param_listener_ = std::make_shared<admittance_controller::ParamListener>(
example_test_node_->get_node_parameters_interface());
params_ = param_listener_->get_params();
}

void TearDown() { example_test_node_.reset(); }

protected:
std::shared_ptr<rclcpp::Node> example_test_node_;
admittance_controller::Params params_;
std::shared_ptr<admittance_controller::ParamListener> param_listener_;
};

TEST_F(ExampleTest, check_parameters) {
Expand All @@ -64,6 +64,15 @@ TEST_F(ExampleTest, check_parameters) {
ASSERT_EQ(params_.ft_sensor.filter_coefficient, 0.1);
}

TEST_F(ExampleTest, try_get_params) {
ASSERT_TRUE(param_listener_->try_get_params(params_));

const rclcpp ::Parameter new_param("interpolation_mode", "linear");
example_test_node_->set_parameter(new_param);
ASSERT_TRUE(param_listener_->try_get_params(params_));
ASSERT_EQ(params_.interpolation_mode, "linear");
}

int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
rclcpp::init(argc, argv);
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11 changes: 11 additions & 0 deletions ...ter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header
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Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,17 @@ struct StackParams {
return params_;
}

bool try_get_params(Params & params_in) const {
if (mutex_.try_lock()) {
if (const bool is_old = params_in.__stamp != params_.__stamp; is_old) {
params_in = params_;
}
mutex_.unlock();
return true;
}
return false;
}

bool is_old(Params const& other) const {
std::lock_guard<std::mutex> lock(mutex_);
return params_.__stamp != other.__stamp;
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