Merge pull request #122 from cactusdynamics/loop-control

Be more explicit for the return of Loop
cactusdynamics · Aug 21, 2024 · dc53ca0 · dc53ca0
2 parents c7e8de6 + 7d5dc26
commit dc53ca0
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Showing 18 changed files with 41 additions and 39 deletions.
diff --git a/examples/lockless_example/main.cc b/examples/lockless_example/main.cc
@@ -1,8 +1,6 @@
 #include <cactus_rt/experimental/lockless.h>
 #include <cactus_rt/rt.h>
 
-#include <chrono>
-
 using cactus_rt::App;
 using cactus_rt::CyclicThread;
 using cactus_rt::Thread;
@@ -75,14 +73,14 @@ class RTThread : public CyclicThread {
  RTThread(Context& ctx) : CyclicThread("RTThread", CreateThreadConfig()), ctx_(ctx) {}
 
  protected:
- bool Loop(int64_t /*now*/) noexcept final {
+ LoopControl Loop(int64_t /*now*/) noexcept final {
  if (ctx_.done.Read()) {
- return true;
+ return LoopControl::Stop;
  }
 
  const Pose new_pose = ctx_.target_pose.Read();
  if (!new_pose.valid) {
- return false;
+ return LoopControl::Continue;
  }
 
  if (new_pose != current_target_pose_) {
@@ -99,7 +97,7 @@ class RTThread : public CyclicThread {
  );
  }
 
- return false;
+ return LoopControl::Continue;
  }
 };
 

diff --git a/examples/logging_example/main.cc b/examples/logging_example/main.cc
@@ -21,13 +21,13 @@ class ExampleRTThread : public CyclicThread {
  }
 
  protected:
- bool Loop(int64_t /*now*/) noexcept final {
+ LoopControl Loop(int64_t /*now*/) noexcept final {
  loop_counter_++;
  if (loop_counter_ % 1000 == 0) {
  LOG_INFO(Logger(), "Loop {}", loop_counter_);
  }
  LOG_INFO_LIMIT(std::chrono::milliseconds{1500}, Logger(), "Log limit: Loop {}", loop_counter_);
- return false;
+ return LoopControl::Continue;
  }
 };
 

diff --git a/examples/message_passing_example/data_logger_thread.h b/examples/message_passing_example/data_logger_thread.h
@@ -7,7 +7,6 @@
 #include <atomic>
 #include <cstdint>
 #include <fstream>
-#include <tuple>
 #include <vector>
 
 using moodycamel::ReaderWriterQueue;

diff --git a/examples/message_passing_example/rt_thread.cc b/examples/message_passing_example/rt_thread.cc
@@ -1,6 +1,6 @@
 #include "rt_thread.h"
 
-bool RtThread::Loop(int64_t ellapsed_ns) noexcept {
+cactus_rt::CyclicThread::LoopControl RtThread::Loop(int64_t ellapsed_ns) noexcept {
  const double ellapsed_ms = static_cast<double>(ellapsed_ns) / 1'000'000.0;
 
  const double period = 1000.0;
@@ -9,5 +9,5 @@ bool RtThread::Loop(int64_t ellapsed_ns) noexcept {
  data_logger_->EmplaceData(ellapsed_ms, amplitude * cos(2 * M_PI / period * ellapsed_ms));
 
  ++iterations_;
- return iterations_ >= max_iterations_;
+ return iterations_ >= max_iterations_ ? LoopControl::Stop : LoopControl::Continue;
 }
diff --git a/examples/message_passing_example/rt_thread.h b/examples/message_passing_example/rt_thread.h
@@ -31,7 +31,7 @@ class RtThread : public CyclicThread {
  }
 
  protected:
- bool Loop(int64_t ellapsed_ns) noexcept final;
+ LoopControl Loop(int64_t ellapsed_ns) noexcept final;
 };
 
 #endif
diff --git a/examples/mutex_example/main.cc b/examples/mutex_example/main.cc
@@ -26,7 +26,7 @@ class RTThread : public CyclicThread {
  buf_(buf) {}
 
  protected:
- bool Loop(int64_t ellapsed_ns) noexcept final {
+ LoopControl Loop(int64_t ellapsed_ns) noexcept final {
  constexpr double period = 5'000'000'000.0; // 5 seconds period
  constexpr double amplitude = 1.0;
 
@@ -38,7 +38,7 @@ class RTThread : public CyclicThread {
 
  buf_.Write(d);
 
- return false;
+ return LoopControl::Continue;
  }
 };
 

diff --git a/examples/ros2/publisher/complex_data.cc b/examples/ros2/publisher/complex_data.cc
@@ -62,7 +62,7 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
  }
 
  protected:
- bool Loop(int64_t elapsed_ns) noexcept override {
+ LoopControl Loop(int64_t elapsed_ns) noexcept override {
  if (elapsed_ns - last_published_at_ > 10'000'000) {
  last_published_at_ = elapsed_ns;
 
@@ -89,7 +89,7 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
  );
  }
 
- return elapsed_ns > run_duration_;
+ return elapsed_ns > run_duration_ ? LoopControl::Stop : LoopControl::Continue;
  }
 };
 

diff --git a/examples/ros2/publisher/simple_data.cc b/examples/ros2/publisher/simple_data.cc
@@ -37,7 +37,7 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
  }
 
  protected:
- bool Loop(int64_t elapsed_ns) noexcept override {
+ LoopControl Loop(int64_t elapsed_ns) noexcept override {
  if (elapsed_ns - last_published_at_ > 10'000'000) {
  last_published_at_ = elapsed_ns;
 
@@ -49,7 +49,7 @@ class RTROS2PublisherThread : public cactus_rt::CyclicThread, public cactus_rt::
  LOG_INFO(Logger(), "{} integer {}", success ? "Published" : "Did not publish", msg.data);
  }
 
- return elapsed_ns > run_duration_;
+ return elapsed_ns > run_duration_ ? LoopControl::Stop : LoopControl::Continue;
  }
 };
 

diff --git a/examples/ros2/subscriber/complex_data.cc b/examples/ros2/subscriber/complex_data.cc
@@ -62,7 +62,7 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
  }
 
  protected:
- bool Loop(int64_t elapsed_ns) noexcept override {
+ LoopControl Loop(int64_t elapsed_ns) noexcept override {
  cactus_rt::ros2::StampedValue<MyCoefficientData> msg;
  {
  const auto span = Tracer().WithSpan("Subscription::ReadLatest");
@@ -74,7 +74,7 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
  last_msg_id_ = msg.id;
  }
 
- return elapsed_ns > run_duration_;
+ return elapsed_ns > run_duration_ ? LoopControl::Stop : LoopControl::Continue;
  }
 };
 

diff --git a/examples/ros2/subscriber/simple_data.cc b/examples/ros2/subscriber/simple_data.cc
@@ -37,7 +37,7 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
  }
 
  protected:
- bool Loop(int64_t elapsed_ns) noexcept override {
+ LoopControl Loop(int64_t elapsed_ns) noexcept override {
  cactus_rt::ros2::StampedValue<std_msgs::msg::Int64> msg;
  {
  const auto span = Tracer().WithSpan("Subscription::ReadLatest");
@@ -49,7 +49,7 @@ class RTROS2SubscriberThread : public cactus_rt::CyclicThread, public cactus_rt:
  last_msg_id_ = msg.id;
  }
 
- return elapsed_ns > run_duration_;
+ return elapsed_ns > run_duration_ ? LoopControl::Stop : LoopControl::Continue;
  }
 };
 

diff --git a/examples/signal_handling_example/main.cc b/examples/signal_handling_example/main.cc
@@ -19,9 +19,9 @@ class ExampleRTThread : public CyclicThread {
  }
 
  protected:
- bool Loop(int64_t /*now*/) noexcept final {
+ LoopControl Loop(int64_t /*now*/) noexcept final {
  loop_counter_++;
- return false;
+ return LoopControl::Continue;
  }
 };
 

diff --git a/examples/simple_deadline_example/main.cc b/examples/simple_deadline_example/main.cc
@@ -23,9 +23,9 @@ class ExampleDeadlineThread : public CyclicThread {
  }
 
  protected:
- bool Loop(int64_t /*now*/) noexcept final {
+ LoopControl Loop(int64_t /*now*/) noexcept final {
  loop_counter_++;
- return false;
+ return LoopControl::Continue;
  }
 };
 

diff --git a/examples/simple_example/main.cc b/examples/simple_example/main.cc
@@ -32,12 +32,12 @@ class ExampleRTThread : public CyclicThread {
  * @return true if you want the thread to stop
  * @return false if you want to thread to continue
  */
- bool Loop(int64_t elapsed_ns) noexcept final {
+ LoopControl Loop(int64_t elapsed_ns) noexcept final {
  // Code written in this function executes every 1 ms.
 
  // This demonstrates the usage of the quill logger. This emits a log message every 1s.
  LOG_INFO_LIMIT(std::chrono::seconds(1), Logger(), "Looping for {}", std::chrono::nanoseconds(elapsed_ns));
- return false;
+ return LoopControl::Continue;
  }
 
  private:

diff --git a/examples/tracing_example/main.cc b/examples/tracing_example/main.cc
@@ -35,7 +35,7 @@ class ExampleRTThread : public CyclicThread {
  }
 
  protected:
- bool Loop(int64_t /*now*/) noexcept final {
+ LoopControl Loop(int64_t /*now*/) noexcept final {
  loop_counter_++;
  if (loop_counter_ % 1000 == 0) {
  LOG_INFO(Logger(), "Loop {}", loop_counter_);
@@ -51,7 +51,7 @@ class ExampleRTThread : public CyclicThread {
  WasteTime(std::chrono::microseconds(1200));
  }
 
- return false;
+ return LoopControl::Continue;
  }
 
  private:
@@ -87,10 +87,10 @@ class SecondRTThread : public CyclicThread {
  SecondRTThread() : CyclicThread("SecondRTThread", CreateThreadConfig()) {}
 
  protected:
- bool Loop(int64_t /*now*/) noexcept final {
+ LoopControl Loop(int64_t /*now*/) noexcept final {
  const auto span = Tracer().WithSpan("Sense");
  WasteTime(std::chrono::microseconds(2000));
- return false;
+ return LoopControl::Continue;
  }
 };
 

diff --git a/include/cactus_rt/cyclic_thread.h b/include/cactus_rt/cyclic_thread.h
@@ -9,6 +9,11 @@ class CyclicThread : public Thread {
  struct timespec next_wakeup_time_;
 
  public:
+ enum class LoopControl {
+ Continue = 0,
+ Stop,
+ };
+
  /**
  * @brief Create a cyclic thread
  * @param name The thread name
@@ -24,9 +29,9 @@ class CyclicThread : public Thread {
  /**
  * @brief The custom loop function that executes one iteration of the code.
  *
- * @returns true if the loop should break, false if it should not
+ * @returns LoopControl::Stop if the loop should break, LoopControl::Continue if it should not
  */
- virtual bool Loop(int64_t ellapsed_ns) noexcept = 0;
+ virtual LoopControl Loop(int64_t ellapsed_ns) noexcept = 0;
 
  /**
  * @brief Track the latency wakeup and loop latency.

diff --git a/src/cactus_rt/cyclic_thread.cc b/src/cactus_rt/cyclic_thread.cc
@@ -25,7 +25,7 @@ void CyclicThread::Run() noexcept {
  Tracer().StartSpan("Loop", "cactusrt", loop_start);
  }
 
- const bool should_stop = Loop(loop_start - Thread::StartMonotonicTimeNs());
+ const LoopControl loop_control = Loop(loop_start - Thread::StartMonotonicTimeNs());
 
  loop_end = NowNs();
 
@@ -58,7 +58,7 @@ void CyclicThread::Run() noexcept {
  next_wakeup_time_ns = next_wakeup_time_.tv_sec * 1'000'000'000 + next_wakeup_time_.tv_nsec;
  }
 
- if (should_stop) {
+ if (loop_control == LoopControl::Stop) {
  break;
  }
 

diff --git a/tests/tracing/helpers/mock_threads.cc b/tests/tracing/helpers/mock_threads.cc
@@ -74,13 +74,13 @@ MockCyclicThread::MockCyclicThread(
  num_iterations_(num_iterations) {
 }
 
-bool MockCyclicThread::Loop(int64_t /* ellapsed_ns */) noexcept {
+cactus_rt::CyclicThread::LoopControl MockCyclicThread::Loop(int64_t /* ellapsed_ns */) noexcept {
  if (custom_loop_func_) {
  custom_loop_func_(iterations_executed_);
  } else {
  WasteTime(20us);
  }
 
  iterations_executed_++;
- return iterations_executed_ >= num_iterations_;
+ return iterations_executed_ >= num_iterations_ ? LoopControl::Stop : LoopControl::Continue;
 }
diff --git a/tests/tracing/helpers/mock_threads.h b/tests/tracing/helpers/mock_threads.h
@@ -53,7 +53,7 @@ class MockCyclicThread : public cactus_rt::CyclicThread {
  );
 
  protected:
- bool Loop(int64_t /* ellapsed_ns */) noexcept final;
+ LoopControl Loop(int64_t /* ellapsed_ns */) noexcept final;
 };
 
 #endif