Improve JogArm thread handling #1816
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henningkayser
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@@ Coverage Diff @@
## master #1816 +/- ##
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+ Coverage 48.44% 48.51% +0.07%
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Files 297 298 +1
Lines 23278 23301 +23
==========================================
+ Hits 11276 11304 +28
+ Misses 12002 11997 -5
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The integration tests still pass, the tutorial still works, the CPU load looks like it hasn't changed much. Looking good so far. Now I'll review the code. |
AndyZe
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Dec 27, 2019
| @@ -49,7 +49,7 @@ int main(int argc, char** argv) | |||
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| // Run the jogging C++ interface in a new thread to ensure a constant outgoing message rate. | |||
| moveit_jog_arm::JogCppApi jog_interface; | |||
| std::thread jogging_thread(&moveit_jog_arm::JogCppApi::mainLoop, &jog_interface); | |||
| std::thread jogging_thread([&]() { jog_interface.startMainLoop(); }); | |||
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This syntax is weird to me. What's going on here?
Is this similar to this?
AndyZe
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Dec 27, 2019
mlautman
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Dec 30, 2019
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This moves thread handling to the JogBaseInterface class and adds atomic bool flags for stopping all main loops from outside their threads.
Also, this fixes an issue where the
CollisionCheckThreadwould indefinitely wait for command messages and won't get to run any collision checks using the C++ API.