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use this_thread::sleep_for on Windows #375

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merged 3 commits into from
Feb 4, 2019
Merged

use this_thread::sleep_for on Windows #375

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5f8fd82
windows bringup
kejxu Feb 1, 2019
21dc855
use <thread> and <chrono> on Windows (#2)
kejxu Jan 31, 2019
2164394
remove the use of usleep
kejxu Feb 1, 2019
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50 changes: 45 additions & 5 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,11 @@
#include <controller_manager/controller_loader.h>
#include <controller_manager_msgs/ControllerState.h>

#ifdef _WIN32
#include <chrono>
#include <thread>
#endif

namespace controller_manager{


Expand Down Expand Up @@ -147,10 +152,17 @@ bool ControllerManager::loadController(const std::string& name)

// get reference to controller list
int free_controllers_list = (current_controllers_list_ + 1) % 2;
while (ros::ok() && free_controllers_list == used_by_realtime_){
while (ros::ok() && free_controllers_list == used_by_realtime_)
{
if (!ros::ok())
{
return false;
}
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(200));
#else
usleep(200);
#endif
}
std::vector<ControllerSpec>
&from = controllers_lists_[current_controllers_list_],
Expand Down Expand Up @@ -259,10 +271,17 @@ bool ControllerManager::loadController(const std::string& name)
// Destroys the old controllers list when the realtime thread is finished with it.
int former_current_controllers_list_ = current_controllers_list_;
current_controllers_list_ = free_controllers_list;
while (ros::ok() && used_by_realtime_ == former_current_controllers_list_){
while (ros::ok() && used_by_realtime_ == former_current_controllers_list_)
{
if (!ros::ok())
{
return false;
}
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(200));
#else
usleep(200);
#endif
}
from.clear();

Expand All @@ -282,10 +301,17 @@ bool ControllerManager::unloadController(const std::string &name)

// get reference to controller list
int free_controllers_list = (current_controllers_list_ + 1) % 2;
while (ros::ok() && free_controllers_list == used_by_realtime_){
while (ros::ok() && free_controllers_list == used_by_realtime_)
{
if (!ros::ok())
{
return false;
}
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(200));
#else
usleep(200);
#endif
}
std::vector<ControllerSpec>
&from = controllers_lists_[current_controllers_list_],
Expand Down Expand Up @@ -322,10 +348,17 @@ bool ControllerManager::unloadController(const std::string &name)
ROS_DEBUG("Realtime switches over to new controller list");
int former_current_controllers_list_ = current_controllers_list_;
current_controllers_list_ = free_controllers_list;
while (ros::ok() && used_by_realtime_ == former_current_controllers_list_){
while (ros::ok() && used_by_realtime_ == former_current_controllers_list_)
{
if (!ros::ok())
{
return false;
}
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(200));
#else
usleep(200);
#endif
}
ROS_DEBUG("Destruct controller");
from.clear();
Expand Down Expand Up @@ -503,10 +536,17 @@ bool ControllerManager::switchController(const std::vector<std::string>& start_c

// wait until switch is finished
ROS_DEBUG("Request atomic controller switch from realtime loop");
while (ros::ok() && please_switch_){
while (ros::ok() && please_switch_)
{
if (!ros::ok())
{
return false;
}
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(100));
#else
usleep(100);
#endif
}
start_request_.clear();
stop_request_.clear();
Expand Down