Fix building realtime_publisher using NON_POLLING (#43)

.travis.yml

@@ -0,0 +1,23 @@
+# Travis Continuous Integration Configuration File For ROS Control Projects
+language: generic
+services:
+  - docker
+
+notifications:
+  email:
+    recipients:
+      - bence.magyar.robotics@gmail.com
+    on_success: change #[always|never|change] # default: change
+    on_failure: change #[always|never|change] # default: always
+
+env:
+  global:
+    - UPSTREAM_WORKSPACE='https://raw.github.com/ros-controls/ros_control/$ROS_DISTRO-devel/ros_control.rosinstall -realtime_tools'
+  matrix:
+    - ROS_DISTRO=melodic ROS_REPO=ros
+    - ROS_DISTRO=melodic ROS_REPO=ros-testing
+
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
+script:
+- .industrial_ci/travis.sh

include/realtime_tools/realtime_buffer.h

@@ -51,7 +51,6 @@ class RealtimeBuffer
 {
  public:
   RealtimeBuffer()
-    : new_data_available_(false)
   {
     // allocate memory
     non_realtime_data_ = new T();
@@ -157,7 +156,7 @@ class RealtimeBuffer
 
   T* realtime_data_;
   T* non_realtime_data_;
-  bool new_data_available_;
+  bool new_data_available_{false};
 
   // Set as mutable so that readFromNonRT() can be performed on a const buffer
   mutable std::mutex mutex_;

include/realtime_tools/realtime_publisher.h

@@ -80,7 +80,7 @@ class RealtimePublisher
   ~RealtimePublisher()
   {
     stop();
-    while (is_running())
+    while (is_running_)
     {
       std::this_thread::sleep_for(std::chrono::microseconds(100));
     }
@@ -124,7 +124,7 @@ class RealtimePublisher
       }
       else
       {
-        msg_mutex_.unlock();
+        unlock();
         return false;
       }
     }
@@ -143,10 +143,7 @@ class RealtimePublisher
   void unlockAndPublish()
   {
     turn_ = NON_REALTIME;
-    msg_mutex_.unlock();
-#ifdef NON_POLLING
-    updated_cond_.notify_one();
-#endif
+    unlock();
   }
 
   /**  \brief Get the data lock form non-realtime
@@ -174,6 +171,9 @@ class RealtimePublisher
   void unlock()
   {
     msg_mutex_.unlock();
+#ifdef NON_POLLING
+    updated_cond_.notify_one();
+#endif
   }
 
 private:
@@ -185,16 +185,16 @@ class RealtimePublisher
   {
     publisher_ = node_.advertise<Msg>(topic_, queue_size, latched);
     keep_running_ = true;
+    turn_ = REALTIME;
     thread_ = std::thread(&RealtimePublisher::publishingLoop, this);
   }
 
-
-  bool is_running() const { return is_running_; }
-
   void publishingLoop()
   {
     is_running_ = true;
-    turn_ = REALTIME;
+#ifdef NON_POLLING
+    std::unique_lock<std::mutex> cond_lock(msg_mutex_, std::defer_lock_t());
+#endif
 
     while (keep_running_)
     {
@@ -205,7 +205,7 @@ class RealtimePublisher
       while (turn_ != NON_REALTIME && keep_running_)
       {
 #ifdef NON_POLLING
-        updated_cond_.wait(lock);
+        updated_cond_.wait(cond_lock);
 #else
         unlock();
         std::this_thread::sleep_for(std::chrono::microseconds(500));
@@ -232,7 +232,7 @@ class RealtimePublisher
 
   std::thread thread_;
 
-  std::mutex msg_mutex_;  // Protects msg_
+  std::mutex msg_mutex_;  // Protects msg_ and turn_
 
 #ifdef NON_POLLING
   std::condition_variable updated_cond_;

src/realtime_clock.cpp

@@ -117,7 +117,9 @@ namespace realtime_tools
 	ROS_WARN_THROTTLE(1.0, "Time estimator has trouble transferring data between non-RT and RT");
 
       // release lock
+#ifndef NON_POLLING
       guard.unlock();
+#endif
       r.sleep();
     }
   }