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Atomic refactor for lock-free ringbuffer [Foxy] #302

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wants to merge 3 commits into from
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Atomic refactor for lock-free ringbuffer [Foxy] #302

wants to merge 3 commits into from

Commits on Mar 6, 2024

  1. fix: Use atomic variables to maintain thread-safe data access without… 

    … locks, port unique_lock creation into constructor and only perform lock/unlock operations in callbacks.

* Both blocking read and write callbacks continue to rely on condition variables for data availability.
* The write_overwrite callback now relies only on the atomic operations without locks, and does not push the read index if overwriting.
* The read_timeout callback will simply not perform the callback instead of returning a nullptr.
* Implemented true nonblocking read_nonblock and write_nonblock callbacks, which rely only on the atomic operations and return immediately either performing or not performing the callback.
    @Imaniac230
    Imaniac230 committed Mar 6, 2024
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  2. feat: Adjust and implement new tests for the lock-free ringbuffer imp… 

    …lementation.

* Adjusted current tests for the lock-free behavior.
* Added tests for the non-blocking implementation.
* Implemented new tests for scenarios, where one thread always runs slower than the other.
    @Imaniac230
    Imaniac230 committed Mar 6, 2024
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  3. fix: Use the stable packet data copy for callback processing in Ouste… 

    …rDriver as well.

* Utilizing the PacketMsg data structure to have the pointed-to buffer data transferred immediately once received and use the stable copy for further processing, instead of a reference to potentially mutable underlying data.
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    Imaniac230 committed Mar 6, 2024
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