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Add try_update_params method #260

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Merged
merged 3 commits into from
Jun 11, 2025
Merged

Add try_update_params method #260

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7e004e9
Improve method
saikishor May 4, 2025
f5f0bf6
fix tests
saikishor May 4, 2025
b2139d0
add try_update_params method
saikishor Jun 7, 2025
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2 changes: 1 addition & 1 deletion example/test/example_test_gtest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ TEST_F(ExampleTest, check_parameters) {
}

TEST_F(ExampleTest, try_get_params) {
ASSERT_TRUE(param_listener_->try_get_params(params_));
ASSERT_FALSE(param_listener_->try_get_params(params_));

const rclcpp ::Parameter new_param("interpolation_mode", "linear");
example_test_node_->set_parameter(new_param);
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6 changes: 3 additions & 3 deletions ...ter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header
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Expand Up @@ -125,12 +125,12 @@ struct StackParams {
}

bool try_get_params(Params & params_in) const {
if (mutex_.try_lock()) {
std::unique_lock<std::mutex> lock(mutex_, std::try_to_lock);
if (lock.owns_lock()) {
if (const bool is_old = params_in.__stamp != params_.__stamp; is_old) {
params_in = params_;
return true;
}
mutex_.unlock();
return true;
}
return false;
}
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