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RCL Executor and convenience functions #534

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RCL Executor and convenience functions #534

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Commits on Dec 10, 2019

  1. Prepared package.xml files for rcl_ext and rcl_executor 

    Signed-off-by: Ralph Lange <ralph.lange@de.bosch.com>
Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
    @ralph-lange @JanStaschulat
    ralph-lange authored and JanStaschulat committed Dec 10, 2019
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  2. initial commit for rcl_executor and rcl_ext package 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  3. resolved findings from 'colcon test'e.g. uncrustify cpplint etc. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  4. updated README.md 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  5. Update rcl_executor/include/rcl_executor/handle.h 

    Co-Authored-By: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
    @JanStaschulat @jacobperron
    JanStaschulat and jacobperron committed Dec 10, 2019
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  6. Update rcl_executor/src/let_executor.c 

    Co-Authored-By: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat and jacobperron committed Dec 10, 2019
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  7. Removed executor->initialized flag. 

    Added a convenience function  _rcle_let_executor_is_valid(rcle_let_executor_t * executor) which checks internallly if the executor object is valid (aka handles is NULL). For this to work, it is necessary that the user first creates an executor variable with the function rcle_let_executor_get_zero_initialized_executor(void)
like in rcl.
Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  8. in executor_fini function assigned handles to NULL and updated test c… 

    …ases.

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  9. removed vestigial print statement 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  10. changed return value for fini function: always RCL_RET_OK 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  11. Feature: can add handles after spin_some is called. renamed wait_set_… 

    …initialized to wait_set_valid. updated test cases.

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  12. removed changelog. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  13. Removed duplicate find_package statement. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  14. Improved formatting in README.md 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  15. Corrected documentation in let_executor.h 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  16. minor update 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 10, 2019
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  17. Minor changes for test-case. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  18. Preparing for use of rcl_wait_set_is_valid. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  19. Use of rcl_wait_set_is_valid 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  20. updating unit-tests 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  21. Added unit test 'update_wait_set' to test API wait_set_is_valid inste… 

    …ad of using internal flag. Test successful.

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  22. Compatability for spin_period function: Replaced gettimeofday by rcut… 

    …ils clock. Prepared unit test.

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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Commits on Dec 11, 2019

  1. Rewritten spin_period to be testable. Wrote unit test 'spin_period', … 

    …tested this function successfully.

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 11, 2019
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  2. Removed test fixture in test_handle.cpp. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 11, 2019
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  3. Pull request comments: 

    - Improved implementation for spin_one_period: instead of using static variables, using member of executor, allowing to change period when calling spin_one_period, feature: have multiple executors)
- reviewer comments in handle.h (comments)
- copyright notice (corrected year and added NOTICE file)
- improved unit test for spin_one_period
Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  4. removed unused function _rcle_print_handles 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 11, 2019
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  5. Improved formatting of comments. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 11, 2019
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  6. Resolved variable declaration of return values in rcle_let_executor_a… 

    …dd_subscription().

Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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  7. Using memset to initialize rcle_handle_size_t object. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
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    JanStaschulat committed Dec 11, 2019
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  8. Renamed macro PRINT_RCL_ERROR to PRINT_RCL_LET_ERROR. 

    Signed-off-by: Staschulat Jan <jan.staschulat@de.bosch.com>
    @JanStaschulat
    JanStaschulat committed Dec 11, 2019
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