Introduce Advanceable Runner and SharedResource #272
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GiulioRomualdi
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Ubuntu 20.04 debug + Valgrind is failing. I think it is related to https://stackoverflow.com/questions/5610677/valgrind-memory-leak-errors-when-using-pthread-create |
GiulioRomualdi
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| auto function = [&]() -> bool { | ||
| while (this->m_isRunning) | ||
| { | ||
| const auto wakeUpTime = BipedalLocomotion::clock().now() + m_dT; |
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Just FYI, this kind of implementation may lead to a drift in the execution (because the old wakeUpTime is not equal to BipedalLocomotion::clock().now()) that could problematic when doing data collection, see robotology/yarp#2515 . I think that @isorrentino already experienced something similar in one of her issues.
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Do you have any suggestions to avoid this problem?
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I understood the problem! This thread is not periodic if there are deadline misses, right?
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auto start = BipedalLocomotion::clock().now();
foo();
auto end = BipedalLocomotion::clock().now();
BipedalLocomotion::clock().sleepFor(m_dT - (end - start));may solve the problem, right?
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or simply
wakeUpTime += m_dt:
But this may lead to a problem if the clock is reset
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If I'm not mistaken @Giulero proposed something in gazebo yarp plugins
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On detecting clock reset and handling them, you can also check robotology/yarp#2494 and robotology/yarp#800 .
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If I'm not mistaken @Giulero proposed something in gazebo yarp plugins
Sorry, I sent my reply but I did not saw yours, indeed my links are related to that.
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Hi @traversaro here I tried to implement what you suggested while taking into account possible time reset e91d6ad
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This is the latest block missing for #260.
Related PR: #256