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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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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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