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two bufix: mutexes, and strictness management #10

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two bufix: mutexes, and strictness management #10

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nicolapedrocchi
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Marco found a weird issue in the management of the configurations.
The issues were two:

  • weak management of the mutex in the parallel thread that computes the FK (cnr_joint_controller_interface.h and cnr_joint_command_controller_interface.h)
  • the strictness was wrongly managed.

Further modifications were done only to clean the log files and have a clearer view of what was happening.
Also, cnr_logger has been modified accordingly (minor modification).

To test the modification:

  • update cnr_logger
  • update cnr_hardware_interface
  • move to marco-devel branch in cnr_ros_controllers
  • move to marco-devel branch in cnr_ros_control

Please make a lot of tests!
n.

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codecov bot commented Apr 5, 2022 •
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Codecov Report

Merging #10 (19050d6) into master (c92066c) will increase coverage by 1.62%.
Report is 1 commits behind head on master.
The diff coverage is 19.81%.

❗ Current head 19050d6 differs from pull request most recent head 294da24. Consider uploading reports for the commit 294da24 to get more accurate results

Additional details and impacted files

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@@            Coverage Diff             @@
##           master      #10      +/-   ##
==========================================
+ Coverage   35.62%   37.25%   +1.62%     
==========================================
  Files          17       17              
  Lines        1047     1071      +24     
==========================================
+ Hits          373      399      +26     
+ Misses        674      672       -2
Flag Coverage Δ
unittests 37.25% <19.81%> (+1.62%) ⬆️

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

Files Changed Coverage Δ
...nr_controller_interface/cnr_controller_interface.h 34.78% <ø> (ø)
...interface/cnr_joint_command_controller_interface.h 100.00% <ø> (ø)
...troller_interface/cnr_joint_controller_interface.h 0.00% <ø> (ø)
...de/cnr_controller_interface/internal/cnr_handles.h 17.50% <9.09%> (+17.50%) ⬆️
...rnal/cnr_joint_command_controller_interface_impl.h 16.11% <10.81%> (-0.16%) ⬇️
...ace/internal/cnr_joint_controller_interface_impl.h 39.79% <21.27%> (+3.23%) ⬆️
...interface/internal/cnr_controller_interface_impl.h 37.00% <54.54%> (+0.78%) ⬆️

... and 1 file with indirect coverage changes

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Reviewers

@ManuelBeschi ManuelBeschi ManuelBeschi approved these changes

@enricovillagrossi enricovillagrossi enricovillagrossi approved these changes

@CesareTonola CesareTonola Awaiting requested review from CesareTonola

@marco-faroni marco-faroni Awaiting requested review from marco-faroni

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3 participants
@nicolapedrocchi @enricovillagrossi @ManuelBeschi