Draft: Nb/slave mode controller#2971
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Nibanovic wants to merge 7 commits intoros-controls:jazzyfrom
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* controller update() waits on signal from hardware that read() is complete * statistics for sync_signal_latency, time between read signal and controller update() call * statistics for sync_trigger, number of times update() was triggered
* initialize all parameters * pass in clock from the CM to the async function handler * only note sync_trigger statiustics if in slave mode
* use trigger_clock to trigger_update * use internal async_function_handler period instead of calulating one in trigger_update
- has 0.9 * rw_rate timeout on waiting - we measure latency between last sync signal and the time we actually wake up
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This PR implements the "async slave controller" functionality present in
realtime_toolsPRs:In short:
read()(first PR)update()is executed between hardwareread/write. This is mediated via signaling thread wakeups using the Monitor patternFor details and validation, check the comments in their respective PRs.