User/adambrett40/259 global waypoint cache #493
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…Global-Waypoint-Cache
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try running this command in the terminal before launching ros I'm not sure why this is not on the path anymore, but hopefully this works as a temporary fix! |
…Global-Waypoint-Cache
…Global-Waypoint-Cache
sailbot.code-workspace
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| { | ||
| "label": "setup", | ||
| "detail": "Set up the workspace", | ||
| "type": "shell", | ||
| "command": "./scripts/setup.sh", | ||
| "problemMatcher": [] | ||
| } | ||
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| ], | ||
| "inputs": [ | ||
| { |
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could you revert these small formatting changes? they dont seem to be related
if another lead request this be done please include it in another PR
| return std::async(std::launch::async, [receivedDataBuffer] { | ||
| try { | ||
| std::filesystem::path cache{CACHE_PATH}; | ||
| if (std::filesystem::exists(cache)) { |
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please look into creating the cache file in the constructor of LocalTransceiver, and deleting the file in the destructor of LocalTransceiver
is it possible to clear the file and write it directly instead of creating another file and renaming it? please look into using std::ios::trunc if possible
| @@ -337,6 +369,18 @@ custom_interfaces::msg::Path LocalTransceiver::parseInMsg(const std::string & ms | |||
| return soln; | |||
| } | |||
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| std::optional<custom_interfaces::msg::Path> LocalTransceiver::getCache() | |||
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please make this function async as well
| @@ -91,6 +104,9 @@ class LocalTransceiverIntf : public NetNode | |||
| sub_local_path_data = this->create_subscription<custom_interfaces::msg::LPathData>( | |||
| ros_topics::LOCAL_PATH, ROS_Q_SIZE, | |||
| std::bind(&LocalTransceiverIntf::sub_local_path_data_cb, this, std::placeholders::_1)); | |||
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| std::thread cache_thread(&LocalTransceiverIntf::getAndPublishCache, this); | |||
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since the get function is now async, we do not need to launch it in a thread
please take a look at the 2019 answer in https://stackoverflow.com/questions/5645375/how-do-i-make-a-function-asynchronous-in-c
| @@ -302,6 +332,8 @@ custom_interfaces::msg::Path LocalTransceiver::receive() | |||
| break; | |||
| } | |||
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| cacheGlobalWaypointsAsync(receivedDataBuffer); | |||
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https://stackoverflow.com/questions/5645375/how-do-i-make-a-function-asynchronous-in-c
try the 2019 answer in the link above and see if that works
samdai01
added
net
…Global-Waypoint-Cache
…Global-Waypoint-Cache
…Global-Waypoint-Cache
Description
Verification
To view what's published on the global_path topic, need to do
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/workspaces/sailbot_workspace/install/libin the terminal first as below (thanks Sean :))Resources