Fixes for windows (#443)

* Fix building on windows * Fix MSVC linker error when building tests * Fix hang when loading controller on windows * Use better log for configuring controller * Be consistent with visibility control * Use try_lock throw exception on failure
ros-controls · Jul 2, 2021 · 6328200 · 6328200
1 parent 84c1e20
commit 6328200
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Showing 4 changed files with 14 additions and 6 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -890,7 +890,7 @@ void ControllerManager::configure_controller_service_cb(
   RCLCPP_DEBUG(
     get_logger(), "configuring service called for controller '%s' ", request->name.c_str());
   std::lock_guard<std::mutex> guard(services_lock_);
-  RCLCPP_DEBUG(get_logger(), "loading service locked");
+  RCLCPP_DEBUG(get_logger(), "configuring service locked");
 
   response->ok =
     configure_controller(request->name) == controller_interface::return_type::OK;
@@ -1153,7 +1153,9 @@ ControllerManager::RTControllerListWrapper::update_and_get_used_by_rt_list()
 std::vector<ControllerSpec> & ControllerManager::RTControllerListWrapper::get_unused_list(
   const std::lock_guard<std::recursive_mutex> &)
 {
-  assert(controllers_lock_.try_lock());
+  if (!controllers_lock_.try_lock()) {
+    throw std::runtime_error("controllers_lock_ not owned by thread");
+  }
   controllers_lock_.unlock();
   // Get the index to the outdated controller list
   int free_controllers_list = get_other_list(updated_controllers_index_);
@@ -1166,15 +1168,19 @@ std::vector<ControllerSpec> & ControllerManager::RTControllerListWrapper::get_un
 const std::vector<ControllerSpec> & ControllerManager::RTControllerListWrapper::get_updated_list(
   const std::lock_guard<std::recursive_mutex> &) const
 {
-  assert(controllers_lock_.try_lock());
+  if (!controllers_lock_.try_lock()) {
+    throw std::runtime_error("controllers_lock_ not owned by thread");
+  }
   controllers_lock_.unlock();
   return controllers_lists_[updated_controllers_index_];
 }
 
 void ControllerManager::RTControllerListWrapper::switch_updated_list(
   const std::lock_guard<std::recursive_mutex> &)
 {
-  assert(controllers_lock_.try_lock());
+  if (!controllers_lock_.try_lock()) {
+    throw std::runtime_error("controllers_lock_ not owned by thread");
+  }
   controllers_lock_.unlock();
   int former_current_controllers_list_ = updated_controllers_index_;
   updated_controllers_index_ = get_other_list(former_current_controllers_list_);

diff --git a/controller_manager/test/test_controller/test_controller.hpp b/controller_manager/test/test_controller/test_controller.hpp
@@ -62,6 +62,7 @@ class TestController : public controller_interface::ControllerInterface
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
   on_cleanup(const rclcpp_lifecycle::State & previous_state) override;
 
+  CONTROLLER_MANAGER_PUBLIC
   void set_command_interface_configuration(
     const controller_interface::InterfaceConfiguration & cfg);
 

diff --git a/hardware_interface/include/fake_components/generic_system.hpp b/hardware_interface/include/fake_components/generic_system.hpp
@@ -33,7 +33,8 @@ using hardware_interface::return_type;
 namespace fake_components
 {
 
-class GenericSystem : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class HARDWARE_INTERFACE_PUBLIC GenericSystem
+  : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
 {
 public:
   return_type

diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -33,7 +33,7 @@ class SensorInterface;
 class SystemInterface;
 class ResourceStorage;
 
-class ResourceManager
+class HARDWARE_INTERFACE_PUBLIC ResourceManager
 {
 public:
   /// Default constructor for the Resource Manager.