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Re-add Clock::sleep_until #1814

Merged
merged 16 commits into from
Nov 5, 2021
Merged

Re-add Clock::sleep_until #1814

merged 16 commits into from
Nov 5, 2021

Commits on Nov 3, 2021

  1. Revert "Revert "Add Clock::sleep_until method (#1748)" (#1793)" 

    This reverts commit d04319a.

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  2. Context, Shutdown Callback, Condition Var per call 

    The `Clock` doesn't have enough information to know which Context should
wake it on shutdown, so this adds a Context as an argument to
sleep_until().

Since the context is per call, the shutdown callback is also registered
per call and cannot be stored on impl_.

The condition_variable is also unique per call to reduce spurious
wakeups when multiple threads sleep on the same clock.

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  3. Throw if until has wrong clock type 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  4. unnecessary newline 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  5. Shorten line 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  6. Fix time jump thresholds and add ROS time test 

    Use -1 and 1 thresholds because 0 and 0 is supposed to disable the
callbacks

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  7. Shorten line 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  8. rclcpp::ok() -> context->is_valid() 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  9. No pre-jump handler instead of noop handler 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  10. If ros_time_is_active errors, let it throw 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  11. Get time source change from callback to avoid race if ROS time toggle… 

    …d quickly

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  12. Fix threshold and no pre-jump callback 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  13. Use RCUTILS_MS_TO_NS macro 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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Commits on Nov 4, 2021

  1. Explicit cast for duration to system time 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  2. Throws at the end of docblock 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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  3. Add tests for invalid and non-global contexts 

    Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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