JTC: Use std::atomic<bool> #1720
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| @@ -152,7 +153,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa | |||
| // Timeout to consider commands old | |||
| double cmd_timeout_; | |||
| // True if holding position or repeating last trajectory point in case of success | |||
| realtime_tools::RealtimeBuffer<bool> rt_is_holding_; | |||
| std::atomic<bool> rt_is_holding_; | |||
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| std::atomic<bool> rt_is_holding_; | |
| std::atomic_bool rt_is_holding_; |
| @@ -179,7 +180,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa | |||
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| rclcpp_action::Server<FollowJTrajAction>::SharedPtr action_server_; | |||
| RealtimeGoalHandleBuffer rt_active_goal_; ///< Currently active action goal, if any. | |||
| realtime_tools::RealtimeBuffer<bool> rt_has_pending_goal_; ///< Is there a pending action goal? | |||
| std::atomic<bool> rt_has_pending_goal_; ///< Is there a pending action goal? | |||
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| std::atomic<bool> rt_has_pending_goal_; ///< Is there a pending action goal? | |
| std::atomic_bool rt_has_pending_goal_; ///< Is there a pending action goal? |
joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Co-authored-by: Sai Kishor Kothakota <[email protected]>
saikishor
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May 30, 2025
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #1720 +/- ##
==========================================
- Coverage 85.69% 85.69% -0.01%
==========================================
Files 123 123
Lines 11897 11895 -2
Branches 1015 1015
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- Hits 10195 10193 -2
Misses 1379 1379
Partials 323 323
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Co-authored-by: Sai Kishor Kothakota <[email protected]> (cherry picked from commit 0dcdd04) # Conflicts: # joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp # joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Co-authored-by: Sai Kishor Kothakota <[email protected]> (cherry picked from commit 0dcdd04)
This was referenced May 31, 2025
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Co-authored-by: Sai Kishor Kothakota <[email protected]>
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Apply changes from the guidelines added with ros-controls/realtime_tools#347