Use RealtimeThreadSafeBox for PID class

[christophfroehlich]

ros-controls/realtime_tools#347

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 87.87879% with 4 lines in your changes missing coverage. Please review.

Project coverage is 78.38%. Comparing base (910093d) to head (c2bfbd2).

Files with missing lines	Patch %	Lines
control_toolbox/src/pid.cpp	86.66%	0 Missing and 4 partials ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           ros2-master     #387      +/-   ##
===============================================
- Coverage        78.41%   78.38%   -0.04%     
===============================================
  Files               30       30              
  Lines             1886     1888       +2     
  Branches           113      114       +1     
===============================================
+ Hits              1479     1480       +1     
  Misses             338      338              
- Partials            69       70       +1     

Flag	Coverage Δ
unittests	78.38% <87.87%> (-0.04%)	⬇️

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

Files with missing lines	Coverage Δ
control_toolbox/include/control_toolbox/pid.hpp	66.98% <100.00%> (-0.31%)	⬇️
...ontrol_toolbox/include/control_toolbox/pid_ros.hpp	100.00% <ø> (ø)
control_toolbox/src/pid_ros.cpp	70.84% <100.00%> (ø)
control_toolbox/src/pid.cpp	74.84% <86.66%> (-0.16%)	⬇️

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[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?

[saikishor]

The changes are fine but I've some questions. I've mentioned those comments.

BTW why not use the RTThreadSafeBox Directly?. As we are using the realtime mutexes, it is safe. This way we can avoid another variable completely

[christophfroehlich]

BTW why not use the RTThreadSafeBox Directly?. As we are using the realtime mutexes, it is safe. This way we can avoid another variable completely

what do you mean? instead of the gain_ copy? but what happens if try_get in the compute_command fails, then we can't proceed?

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?