Replace existing RealtimeBox implementation with RealtimeBoxBestEffort implementation

[firesurfer]

Hi as said in #139 this PR replaces the existing RealtimeBox implementation with the new implementation provided in #139 . I merged the tests into a single file and they work fine (even though the existing implementation had only a very small amount of tests)

The implementation of the get/set methods matches exactly the one from the existing implementation apart from some template magic which disables the standard get/set methods for pointer types. (For which they wouldnt provide any thread safety btw from my point of view - see #138)

TLDR: Merging this has the potential to break existing code if someone used pointer types with the RealtimeBox. For everything else it should work just fine.

I would also be happy to provide some documentation on how to use this implementation but I am not sure where in the repository it should go.

This PR should be merged after #139

EDIT: One question regarding the copyright notice for the existing tests. How should this be handled? At the moment I didn't copy any of it to the merged file.

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 85.71429% with 8 lines in your changes missing coverage. Please review.

Project coverage is 73.47%. Comparing base (97f9f41) to head (3f57b78).

Files with missing lines	Patch %	Lines
include/realtime_tools/realtime_box.h	85.71%	3 Missing and 5 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #146      +/-   ##
==========================================
+ Coverage   73.11%   73.47%   +0.36%     
==========================================
  Files           8        7       -1     
  Lines         398      411      +13     
  Branches       65       67       +2     
==========================================
+ Hits          291      302      +11     
  Misses         68       68              
- Partials       39       41       +2     

Flag	Coverage Δ
unittests	73.47% <85.71%> (+0.36%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
include/realtime_tools/realtime_box.h	86.20% <85.71%> (-13.80%)	⬇️

---- 🚨 Try these New Features:

• Flaky Tests Detection - Detect and resolve failed and flaky tests

[firesurfer]

@christophfroehlich I will update this PR as soon as #139 is finished

[firesurfer]

Fixes #138

[firesurfer]

@christophfroehlich Given that #139 is now merged I updated this PR.
Please see my notes in the initial description about open points for discussion.

Also pinging @saikishor

[firesurfer]

@christophfroehlich Just a note about the CI. Interestingly I just had the case that pre-commit in the CI failed but did run sucessfully on my system. (Note about using the right include guard - REALTIME_TOOLS__REALTIME_BOX_H_)

[christophfroehlich]

The only package of the listed dependencies above which use any of the RealtimeBox/RealTimeBoxBestEffort classes is this ur_controller: It uses a shared pointer, but will fail if we delete the RealTimeBoxBestEffort classname. Would a using RealTimeBoxBestEffort=RealTimeBox; work here @firesurfer? 👀 @fmauch
https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp#L91-L93

[firesurfer]

Our @fmauch might want to fix this ? I think this controller is rather new - so the impact of fixing this would be managable.

And in order to answer your question @christophfroehlich - using RealTimeBoxBestEffort=RealTimeBox; should work

@saikishor

I could see these released packages are using it in rolling, we just have to make sure that all of these are using shared_ptrs instead of raw pointers. We will have to check the same for Jazzy and Humble

From my understanding using a shared_ptr isn't safer in anyway (apart from memory safety) than a normal pointer with the RealTimeBox -> That is the reason I enforced using the methods that are overloaded with a std::function for normal pointers and shared_ptrs.

The discussion is basically the same as in the beginning: Shall we enforce correct behavior and possibly break dependent code or do we add back the deprecation workaround - which is annoying to maintain.

[saikishor]

And in order to answer your question @christophfroehlich - using RealTimeBoxBestEffort=RealTimeBox; should work

Yup let's do that. I don't know if we can add deprecation notice to the using keyword. If so, we can add it and ask everyone to switch to new RealTimeBox?

@saikishor

From my understanding using a shared_ptr isn't safer in anyway (apart from memory safety) than a normal pointer with the RealTimeBox -> That is the reason I enforced using the methods that are overloaded with a std::function for normal pointers and shared_ptrs.

You are absolutely right. The other day I was checking the same and it doesn't make sense to use Pointers here, as you can still change it outside the RealTimeBox class. As you said, it is meant for classes and structs to be used safely.

The discussion is basically the same as in the beginning: Shall we enforce correct behavior and possibly break dependent code or do we add back the deprecation workaround - which is annoying to maintain.

As the Original API is simple and it already mentions in the documentation note to use shared_ptrs I don't mind merging it and see what will be the case.

I apologize for delaying this so far.

[saikishor]

@firesurfer I'll do one final review to see if I find something.

[saikishor]

@firesurfer Overall looks good to me, I've opened discussion at some points.

[fmauch]

Our @fmauch might want to fix this ? I think this controller is rather new - so the impact of fixing this would be managable.

I'll add it to my tech debt list :-) Thanks for adding the deprecation layer, though!

[saikishor]

LGTM

Thank you so much @firesurfer for the follow-up

[christophfroehlich]

LGTM as far as I can assess this. Thanks again for the follow-up on this

[christophfroehlich]

see the clang fix above