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Add Periodic Thread class and reduce YarpLoggerDevice latency #899

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@LoreMoretti LoreMoretti commented Oct 4, 2024 •
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This class manages the creation and execution of periodic threads.

User can define the tasks for their periodic thread just by inheriting from this class and overriding the threadInit and run function.

Indeed, this PR also changes the YarpLoggerDevice, which now inherits from BipedalLocomotion::System::PeriodicThread rather than yarp::os::PeriodicThread.

@LoreMoretti
first skeleton of PeriodicThread implementation
82b660f
@LoreMoretti
switch to Bipedal clock
1089c7e
@LoreMoretti
use raw pointers to avoid circular dependency
7d5f66e
@LoreMoretti
reduce smart pointers where possible
80c1c39
@LoreMoretti
switch from pure virtual to virtual run memebr function
eb597b4 
It is not clear why with the pure virtual run function,
things do not work.

It seems that the pure virtual function is being called, rather than
the user override one. This causes a segmentation fault.
@LoreMoretti
remove use of pimpl pattern
2a47b11
@LoreMoretti
make run method pure virtual and prints clean up
aa3399f
@LoreMoretti
add sedPeriod member function
4c9f97f
@LoreMoretti
add synchronization feature through blf barrier
3cd8eec
@LoreMoretti
add unit tests for periodic thread
531d179
@LoreMoretti
add state machine and missing member function
7e96f0f
@LoreMoretti
improve state machine and update unit tests
1316986
@LoreMoretti
add more unit tests
aa53266
@LoreMoretti
add early wake up option
bf29669
@LoreMoretti
add some setters and update unit tests
e52512e
@LoreMoretti
add some unit tests
2461257
@LoreMoretti LoreMoretti force-pushed the feature/PeriodicThread branch from 5342aeb to 2461257 Compare October 4, 2024 10:12
@LoreMoretti LoreMoretti changed the title Add Periodic Thread class Add Periodic Thread class and reduce YarpLoggerDevice latency Oct 8, 2024
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LoreMoretti commented Oct 8, 2024

Also BipedalLocomotion::System::AdvanceableRunner could inherit from BipedalLocomotion::System::PeriodicThread. But, I think it is better to eventually implement it in a separate PR.

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@GiulioRomualdi GiulioRomualdi Awaiting requested review from GiulioRomualdi GiulioRomualdi will be requested when the pull request is marked ready for review GiulioRomualdi is a code owner

@S-Dafarra S-Dafarra Awaiting requested review from S-Dafarra S-Dafarra will be requested when the pull request is marked ready for review S-Dafarra is a code owner

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