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Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary #470

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merged 3 commits into from
Dec 10, 2020
Merged

Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary #470

merged 3 commits into from
Dec 10, 2020

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ivanpauno
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Minimal improvement, mainly intended to get used to the development cycle.

This PR avoids busy waiting in a loop until all stepAck messages are received by instead using a std::promise/std::future as a notification mechanism.

I tested this with the distributed_levels example, seems to be working fine.
colcon test was also run locally, INTEGRATION_diff_drive_system and INTEGRATION_wheel_slip are failing but seemed unrelated (they also fail when I use ign-gazebo4 branch).

Note: I don't have push access to the repo, so I'm working from a fork. It would be nice to get access, so I can add reviewers/labels appropriately.

maybe @mjcarroll can take a look

@ivanpauno
Use a std::promise/std::future to avoid busy waiting the step ack mes…
71ae590 
…sages

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
@ivanpauno ivanpauno requested a review from chapulina as a code owner December 2, 2020 20:11
@github-actions github-actions bot added the 🔮 dome Ignition Dome label Dec 2, 2020
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CC @chapulina for permissions

@caguero caguero changed the title Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagetPrimary Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary Dec 7, 2020
chapulina
chapulina approved these changes Dec 10, 2020
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Towards the future! LGTM. I'll just make the style change below and get it in. Thanks!

@chapulina
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31ea13c 
Signed-off-by: Louise Poubel <louise@openrobotics.org>
@chapulina chapulina merged commit b81fc34 into gazebosim:ign-gazebo4 Dec 10, 2020
@ivanpauno ivanpauno deleted the ivanpauno/use-promise-waiting-for-step-ack branch December 10, 2020 21:12
ivanpauno added a commit that referenced this pull request Jan 7, 2021
@ivanpauno
Use a std::promise/std::future to avoid busy waiting the step ack mes…
028b0ac 
…sages in NetworkManagerPrimary (#470)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

Hacking the nectwork secondary loop to allow taking steps asynchronously

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

tweaks so the secondary sends ack messages more eagerly, and 'goes ahead' more slowly

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Something that works with the distributed_levels demo

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Primary acks secondaries steps each N/2

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Use real robots in the distributed levels world

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Speedup primary in distributed simulation

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Clenup NewtworkManagerPrimary::Step() code

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Primary indicates how many steps secondaries can move ahead

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Scripts to run the distributed_levels simulation with N robots and M secondaries

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Record statistics with ign_imgui

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Delete unrelated file

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Lobotuerk added a commit to Lobotuerk/ign-gazebo that referenced this pull request Jan 11, 2021
@Lobotuerk @mcres
@chapulina @mabelzhang @azeey @mjcarroll @adlarkin @iche033 @ivanpauno @ahcorde @nkoenig @doisyg @gonzodepedro @scpeters @j-rivero @acxz @caguero
Fork update (#1)
9378df3 
* Initial commit

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Added plugin files

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Initial .sdf file

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Pipeline for getting sensor contacts

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Added visualization of postion and forces

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Added plugin for Transform Control

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Added initial interpolation

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Code check

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Update info after specified milliseconds

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Set marker lifetime for better performance

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Added Depth Camera

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Added callback and unpacking to Depth Camera messages

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Compute and visualize normal forces

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* PR Feedback 1

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Update sdf example to a more realistic environment

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Allow moving Depth Camera from model origin

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Make markers dimensions available as parameters

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Visualize sensor as a marker instead of <visual> and filter out normal forces outside sensor

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* PR Feedback 2

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* PR Feedback 3

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* Minor fixes for sdf, sensor marker and profiler

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* PR Feedback 4

Signed-off-by: Martiño Crespo <marticres@gmail.com>

* fix mac warning

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>

* Helper function to set component data (gazebosim#436)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Remove unneeded if statement (gazebosim#432)

Signed-off-by: John Shepherd <john@openrobotics.org>

* Fixes flaky RecordAndPlayback test in INTEGRATION_log_system (gazebosim#463)

The flakiness comes from two sources:
1. Poses recorded by the LogRecorder are published by the
   SceneBroadcaster system throttled at 60 Hz. The throttle mechanism
   uses real-time instead of sim-time which causes a variance in the
   number of recorded poses from run to run. However, the expected number of
   recorded poses was calculated with the assumption that the simulation
   would run with a 1.0 RTF. If the CPU load is high, there could be a
   mismatch between the expected and the actual number of recorded
   poses, which causes the test to fail.
   This can be checked by running the test with
`cpulimit -l 20 -f  bin/INTEGRATION_log_system  -- --gtest_filter="*RecordAndPlayback"`

2. An attempt is made to match up played back poses with the closest
   timestamp in the recorded file. These poses are again published by
   the SceneBroadcaster, so they are subject to the same kind of timing
   issues as the recorded poses.

The solution in this patch for the first issue is to determine the
expected number of recorded poses by counting them in a separate system
that mimics the throttling mechanism of ign-transport. For the second
issue, a testing system is added to the playback server bypassing the
SceSceneBroadcaster altogether.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Make PeerTracker test more robust (gazebosim#452)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Michael Carroll <michael@openrobotics.org>

* Clarify how sim time is interpreted in a System's step (gazebosim#467)

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* 3 ➡️  4: fixes for gazebosim#463 (gazebosim#469)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Link link tutrial (gazebosim#472)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Switch to async state service request (gazebosim#461)

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary (gazebosim#470)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Fix tests that use Fuel paths with uppercase letters (gazebosim#480)

As of gazebosim/gz-fuel-tools#130, fuel paths use all lowercase letters. This fixes some tests that had uppercase letters.
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* 4.1.0 (gazebosim#485)

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* Update key event handling (gazebosim#466)

Signed-off-by: John Shepherd <john@openrobotics.org>

* Fix slot in Plotting plugin (gazebosim#490)

Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>

* Tape Measure Plugin (gazebosim#456)

Signed-off-by: John Shepherd <john@openrobotics.org>

* Satisfy make codecheck (gazebosim#491)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Move deselect and preview termination to render thread (gazebosim#493)

Signed-off-by: John Shepherd <john@openrobotics.org>

* Fix codecheck (gazebosim#499)

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Logical Audio Sensor Plugin (gazebosim#401)

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* Codecheck - initialize primitive in LogicalAudio component (gazebosim#502)

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* 3 to 4: fix codecheck for ign-gazebo4

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* 3 to 4: resolve codecheck warnings

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* add frame_id and child_frame_id attribute support for DiffDrive (gazebosim#361)

Add configuration of the odom frame_id and child_frame_id fields from sdf attributes <frame_id> and <child_frame_id>

Signed-off-by: Guillaume <guillaume.doisy@wyca.fr>
Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr>

* Require ign-gui 4.1.0 (gazebosim#505)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Fix shadow artifacts by disabling double sided rendering (gazebosim#446)

* read double sided sdf param

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* update migration

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Make the tunnels example world more interesting (gazebosim#462)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* add double sided msg to sdf conversion

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Add ability to record video based on sim time (gazebosim#414)

* add ability to record video from gui camera using sim time

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* add msg

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* use QueryBoolText

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Add lockstep mode to video recording (gazebosim#419)

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Kinetic energy monitor plugin (gazebosim#492)

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Disable right click menu when using measuring tool (gazebosim#458)

Signed-off-by: John Shepherd <john@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Bump to 3.6.0 (gazebosim#524)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Don't make docs on macOS (gazebosim#528)

add comment about doxygen bug

Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* Updates to ardupilot migration tutorial (gazebosim#525)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (gazebosim#506)

* Compile new gtest with c++11
* Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P

Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>

* Apply suggestions from code review

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

* change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527)

See: https://bugreports.qt.io/browse/QTBUG-89114
Signed-off-by: acxz <17132214+acxz@users.noreply.github.com>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Generate valid topics everywhere (support names with spaces) (gazebosim#522)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* One more tutorial version bump

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Fix bad merge

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527)

See: https://bugreports.qt.io/browse/QTBUG-89114
Signed-off-by: acxz <17132214+acxz@users.noreply.github.com>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Generate valid topics everywhere (support names with spaces) (gazebosim#522)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Change deprecated test case->suite

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* 3 ➡️ 4 (gazebosim#533)

* Clarify how sim time is interpreted in a System's step (gazebosim#467)
* add frame_id and child_frame_id attribute support for DiffDrive (gazebosim#361)
* Add ability to record video based on sim time (gazebosim#414)
* add ability to record video from gui camera using sim time
* add msg
* use QueryBoolText
* Add lockstep mode to video recording (gazebosim#419)
* Disable right click menu when using measuring tool (gazebosim#458)
* Bump to 3.6.0 (gazebosim#524)
* Don't make docs on macOS (gazebosim#528)
* Updates to ardupilot migration tutorial (gazebosim#525)
* Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (gazebosim#506)
* Compile new gtest with c++11
* Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P
* Apply suggestions from code review
* One more tutorial version bump
* Fix bad merge
* change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527)
* Generate valid topics everywhere (support names with spaces) (gazebosim#522)
* Change deprecated test case->suite

Co-authored-by: Ashton Larkin <ashton@openrobotics.org>
Co-authored-by: G.Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Ian Chen <ichen@osrfoundation.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>
Co-authored-by: John Shepherd <john@openrobotics.org>
Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Akash Patel <17132214+acxz@users.noreply.github.com>

* Add support for topic statistics on breadcrumb deployments (gazebosim#532)

* Add support for topic statistics on breadcrumb deployments

Signed-off-by: Nate Koenig <nate@openrobotics.org>

* Require version 9.1 of ignition transport

Signed-off-by: Nate Koenig <nate@openrobotics.org>

* Move to after mutex

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Carlos Agüero <caguero@osrfoundation.org>

Co-authored-by: Martiño Crespo <marticres@gmail.com>
Co-authored-by: Louise Poubel <louise@openrobotics.org>
Co-authored-by: Mabel Zhang <mabel@openrobotics.org>
Co-authored-by: John Shepherd <john@openrobotics.org>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Ashton Larkin <ashton@openrobotics.org>
Co-authored-by: Ian Chen <ichen@osrfoundation.org>
Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com>
Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: G.Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Gonzo <42421541+gonzodepedro@users.noreply.github.com>
Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Akash Patel <17132214+acxz@users.noreply.github.com>
Co-authored-by: Carlos Agüero <caguero@osrfoundation.org>
chapulina added a commit that referenced this pull request Mar 9, 2021
@ivanpauno @chapulina
Use a std::promise/std::future to avoid busy waiting the step ack mes…
cf5b877 
…sages in NetworkManagerPrimary (#470)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
chapulina added a commit that referenced this pull request Mar 10, 2021
@ivanpauno @chapulina
Use a std::promise/std::future to avoid busy waiting the step ack mes…
307aad9 
…sages in NetworkManagerPrimary (#470)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
chapulina added a commit that referenced this pull request Mar 10, 2021
@ivanpauno @chapulina
Use a std::promise/std::future to avoid busy waiting the step ack mes…
443a9f7 
…sages in NetworkManagerPrimary (#470)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
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