Skip to content

Fixes for windows #443

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 8 commits into from
Jul 2, 2021
Merged

Fixes for windows #443

Show file tree
Hide file tree
Changes from 5 commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
c9ab0ae
Fix building on windows
Ace314159 May 30, 2021
ce66d26
Fix MSVC linker error when building tests
Ace314159 Jun 9, 2021
324ce07
Fix hang when loading controller on windows
Ace314159 Jun 16, 2021
d6d9f96
Use better log for configuring controller
Ace314159 Jun 16, 2021
e5619e6
Be consistent with visibility control
Ace314159 Jun 19, 2021
b536180
Fix linter
Ace314159 Jun 25, 2021
2c2a246
Use try_lock throw exception on failure
Ace314159 Jul 1, 2021
c7d9c63
Merge branch 'ros-controls:master' into master
Ace314159 Jul 1, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 10 additions & 7 deletions controller_manager/src/controller_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -888,7 +888,7 @@ void ControllerManager::configure_controller_service_cb(
RCLCPP_DEBUG(
get_logger(), "configuring service called for controller '%s' ", request->name.c_str());
std::lock_guard<std::mutex> guard(services_lock_);
RCLCPP_DEBUG(get_logger(), "loading service locked");
RCLCPP_DEBUG(get_logger(), "configuring service locked");

response->ok =
configure_controller(request->name) == controller_interface::return_type::OK;
Expand Down Expand Up @@ -1151,8 +1151,9 @@ ControllerManager::RTControllerListWrapper::update_and_get_used_by_rt_list()
std::vector<ControllerSpec> & ControllerManager::RTControllerListWrapper::get_unused_list(
const std::lock_guard<std::recursive_mutex> &)
{
assert(controllers_lock_.try_lock());
controllers_lock_.unlock();
{
std::lock_guard<std::recursive_mutex> guard(controllers_lock_);
}
// Get the index to the outdated controller list
int free_controllers_list = get_other_list(updated_controllers_index_);

Expand All @@ -1164,16 +1165,18 @@ std::vector<ControllerSpec> & ControllerManager::RTControllerListWrapper::get_un
const std::vector<ControllerSpec> & ControllerManager::RTControllerListWrapper::get_updated_list(
const std::lock_guard<std::recursive_mutex> &) const
{
assert(controllers_lock_.try_lock());
controllers_lock_.unlock();
{
std::lock_guard<std::recursive_mutex> guard(controllers_lock_);
}
return controllers_lists_[updated_controllers_index_];
}

void ControllerManager::RTControllerListWrapper::switch_updated_list(
const std::lock_guard<std::recursive_mutex> &)
{
assert(controllers_lock_.try_lock());
controllers_lock_.unlock();
{
std::lock_guard<std::recursive_mutex> guard(controllers_lock_);
}
int former_current_controllers_list_ = updated_controllers_index_;
updated_controllers_index_ = get_other_list(former_current_controllers_list_);
wait_until_rt_not_using(former_current_controllers_list_);
Expand Down
1 change: 1 addition & 0 deletions controller_manager/test/test_controller/test_controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ class TestController : public controller_interface::ControllerInterface
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_cleanup(const rclcpp_lifecycle::State & previous_state) override;

CONTROLLER_MANAGER_PUBLIC
void set_command_interface_configuration(
const controller_interface::InterfaceConfiguration & cfg);

Expand Down
2 changes: 1 addition & 1 deletion hardware_interface/include/fake_components/generic_system.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ using hardware_interface::return_type;
namespace fake_components
{

class GenericSystem : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
class HARDWARE_INTERFACE_PUBLIC GenericSystem : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
{
public:
return_type
Expand Down
2 changes: 1 addition & 1 deletion hardware_interface/include/hardware_interface/resource_manager.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ class SensorInterface;
class SystemInterface;
class ResourceStorage;

class ResourceManager
class HARDWARE_INTERFACE_PUBLIC ResourceManager
{
public:
/// Default constructor for the Resource Manager.
Expand Down