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Add latch param to throttle #1944

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Jul 20, 2020
Merged

Add latch param to throttle #1944

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30 changes: 19 additions & 11 deletions tools/topic_tools/src/throttle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,8 @@ bool g_use_messages;
ros::Time g_last_time;
bool g_use_wallclock;
bool g_lazy;
bool g_force_latch = false;
bool g_force_latch_value = true;
ros::TransportHints g_th;

class Sent
Expand Down Expand Up @@ -87,24 +89,29 @@ void conn_cb(const ros::SingleSubscriberPublisher&)
}
}

bool is_latching(const boost::shared_ptr<const ros::M_string>& connection_header)
{
if (connection_header)
{
ros::M_string::const_iterator it = connection_header->find("latching");
if ((it != connection_header->end()) && (it->second == "1"))
{
ROS_DEBUG("input topic is latched; latching output topic to match");
return true;
}
}

return false;
}

void in_cb(const ros::MessageEvent<ShapeShifter>& msg_event)
{
boost::shared_ptr<ShapeShifter const> const &msg = msg_event.getConstMessage();
boost::shared_ptr<const ros::M_string> const& connection_header = msg_event.getConnectionHeaderPtr();

if (!g_advertised)
{
// If the input topic is latched, make the output topic latched
bool latch = false;
if (connection_header)
{
ros::M_string::const_iterator it = connection_header->find("latching");
if((it != connection_header->end()) && (it->second == "1"))
{
ROS_DEBUG("input topic is latched; latching output topic to match");
latch = true;
}
}
const bool latch = g_force_latch ? g_force_latch_value : is_latching(connection_header);
g_pub = msg->advertise(*g_node, g_output_topic, 10, latch, conn_cb);
g_advertised = true;
printf("advertised as %s\n", g_output_topic.c_str());
Expand Down Expand Up @@ -192,6 +199,7 @@ int main(int argc, char **argv)
pnh.getParam("wall_clock", g_use_wallclock);
pnh.getParam("unreliable", unreliable);
pnh.getParam("lazy", g_lazy);
g_force_latch = pnh.getParam("force_latch", g_force_latch_value);

if (unreliable)
g_th.unreliable().reliable(); // Prefers unreliable, but will accept reliable.
Expand Down