Allow timer rate to be configurable inmessage_lost_talker
#679
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Signed-off-by: Yadunund <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@gmail.com>
Yadunund
requested review from
adityapande-1995,
audrow and
mjeronimo
as code owners
mjcarroll
requested changes
May 5, 2024
Co-authored-by: Michael Carroll <michael@openrobotics.org> Signed-off-by: Yadu <yadunund@gmail.com>
fujitatomoya
requested changes
May 6, 2024
| @@ -156,8 +156,8 @@ and the "Deadline missed" messages will no longer be printed. | |||
| This demo shows how to get a notification when a subscription loses a message. | |||
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| This feature is not available in all RMW implementations. | |||
| `rmw_cyclonedds_cpp` and `rmw_connextdds` do support this feature. | |||
| CycloneDDS partially implements the feature and it only triggers the event under some limited circumstances, thus it's recommended to try the demo with Connext. | |||
| `rmw_zenoh_cpp`, `rmw_cyclonedds_cpp` and `rmw_connextdds` do support this feature. | |||
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i think RMW_EVENT_MESSAGE_LOST is supported in rmw_fastrtps, i am not sure why that is not listed here?
Suggested change
| `rmw_zenoh_cpp`, `rmw_cyclonedds_cpp` and `rmw_connextdds` do support this feature. | |
| `rmw_fastrtps_cpp`, `rmw_zenoh_cpp`, `rmw_cyclonedds_cpp` and `rmw_connextdds` do support this feature. |
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Agreed. I also think it is premature to add in rmw_zenoh_cpp here, as it is not a Tier-1 RMW.
| input_stream >> timer_rate; | ||
| if (!input_stream) { | ||
| print_usage(); | ||
| std::cout << "\n-s must be followed by a positive number, got: '" << |
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Suggested change
| std::cout << "\n-s must be followed by a positive number, got: '" << | |
| std::cout << "\n-r must be followed by a positive number, got: '" << |
| std::exit(0); | ||
| } | ||
| timer_period_ = std::chrono::duration_cast<std::chrono::milliseconds>( | ||
| std::chrono::duration<double, std::ratio<1>>(1.0 / timer_rate)); |
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if -r 0, this could generate 0 division exception?
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@Yadunund friendly ping 🧇 |
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Sorry for the delay. Will have this cleaned up by end of this week |
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By default the talker publishes an 8mB message every 3 seconds. I haven't been able to reproduce any message lost callback triggers with such a low frequency. It helps to increase the publishing rate.
This PR
-rCLI arg tomessage_lost_talkerto configure the timer's period. Default behavior is still the same 3s period.best_effortto increase the probability of dropping a message. -> I can undo this change if needed.