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Use message_info in SubscriptionTopicStatistics instead of typed message #2337

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merged 4 commits into from
Nov 2, 2023
Merged

Use message_info in SubscriptionTopicStatistics instead of typed message #2337

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fba13af
Use message_info in SubscriptionTopicStatistics instead of typed message
MichaelOrlov Oct 14, 2023
1e4b802
Fix test_receive_stats_include_window_reset by using publisher emulator
MichaelOrlov Oct 15, 2023
ecbd7dc
Cleanup in the test_subscription_topic_statistics.cpp
MichaelOrlov Oct 15, 2023
bdfa4d5
Fix doxygen comment per code review
MichaelOrlov Oct 16, 2023
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17 changes: 8 additions & 9 deletions rclcpp/include/rclcpp/create_subscription.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,8 @@ template<
typename SubscriptionT,
typename MessageMemoryStrategyT,
typename NodeParametersT,
typename NodeTopicsT,
typename ROSMessageType = typename SubscriptionT::ROSMessageType>
typename NodeTopicsT
>
typename std::shared_ptr<SubscriptionT>
create_subscription(
NodeParametersT & node_parameters,
Expand All @@ -70,7 +70,7 @@ create_subscription(
using rclcpp::node_interfaces::get_node_topics_interface;
auto node_topics_interface = get_node_topics_interface(node_topics);

std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>
subscription_topic_stats = nullptr;

if (rclcpp::detail::resolve_enable_topic_statistics(
Expand All @@ -80,8 +80,7 @@ create_subscription(
if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
throw std::invalid_argument(
"topic_stats_options.publish_period must be greater than 0, specified value of " +
std::to_string(options.topic_stats_options.publish_period.count()) +
" ms");
std::to_string(options.topic_stats_options.publish_period.count()) + " ms");
}

std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
Expand All @@ -91,12 +90,12 @@ create_subscription(
options.topic_stats_options.publish_topic,
qos);

subscription_topic_stats = std::make_shared<
rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
>(node_topics_interface->get_node_base_interface()->get_name(), publisher);
subscription_topic_stats =
std::make_shared<rclcpp::topic_statistics::SubscriptionTopicStatistics>(
node_topics_interface->get_node_base_interface()->get_name(), publisher);

std::weak_ptr<
rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
rclcpp::topic_statistics::SubscriptionTopicStatistics
> weak_subscription_topic_stats(subscription_topic_stats);
auto sub_call_back = [weak_subscription_topic_stats]() {
auto subscription_topic_stats = weak_subscription_topic_stats.lock();
Expand Down
6 changes: 3 additions & 3 deletions rclcpp/include/rclcpp/subscription.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ class Subscription : public SubscriptionBase

private:
using SubscriptionTopicStatisticsSharedPtr =
std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>;
std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>;

public:
RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
Expand Down Expand Up @@ -316,7 +316,7 @@ class Subscription : public SubscriptionBase
if (subscription_topic_statistics_) {
const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
const auto time = rclcpp::Time(nanos.time_since_epoch().count());
subscription_topic_statistics_->handle_message(*typed_message, time);
subscription_topic_statistics_->handle_message(message_info.get_rmw_message_info(), time);
}
}

Expand Down Expand Up @@ -357,7 +357,7 @@ class Subscription : public SubscriptionBase
if (subscription_topic_statistics_) {
const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
const auto time = rclcpp::Time(nanos.time_since_epoch().count());
subscription_topic_statistics_->handle_message(*typed_message, time);
subscription_topic_statistics_->handle_message(message_info.get_rmw_message_info(), time);
}
}

Expand Down
5 changes: 2 additions & 3 deletions rclcpp/include/rclcpp/subscription_factory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,15 +75,14 @@ template<
typename CallbackT,
typename AllocatorT,
typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType,
typename ROSMessageType = typename SubscriptionT::ROSMessageType
typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType
>
SubscriptionFactory
create_subscription_factory(
CallbackT && callback,
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>
subscription_topic_stats = nullptr
)
{
Expand Down
23 changes: 7 additions & 16 deletions rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,21 +48,12 @@ using libstatistics_collector::moving_average_statistics::StatisticData;
/**
* Class used to collect, measure, and publish topic statistics data. Current statistics
* supported for subscribers are received message age and received message period.
*
* \tparam CallbackMessageT the subscribed message type
*/
template<typename CallbackMessageT>
*/
class SubscriptionTopicStatistics
{
using TopicStatsCollector =
libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector<
CallbackMessageT>;
using ReceivedMessageAge =
libstatistics_collector::topic_statistics_collector::ReceivedMessageAgeCollector<
CallbackMessageT>;
using ReceivedMessagePeriod =
libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector<
CallbackMessageT>;
using TopicStatsCollector = libstatistics_collector::TopicStatisticsCollector;
using ReceivedMessageAge = libstatistics_collector::ReceivedMessageAgeCollector;
using ReceivedMessagePeriod = libstatistics_collector::ReceivedMessagePeriodCollector;

public:
/// Construct a SubscriptionTopicStatistics object.
Expand Down Expand Up @@ -101,16 +92,16 @@ class SubscriptionTopicStatistics
/**
* This method acquires a lock to prevent race conditions to collectors list.
*
* \param received_message the message received by the subscription
* \param message_info the message info corresponding to the received message
* \param now_nanoseconds current time in nanoseconds
*/
virtual void handle_message(
const CallbackMessageT & received_message,
const rmw_message_info_t & message_info,
const rclcpp::Time now_nanoseconds) const
{
std::lock_guard<std::mutex> lock(mutex_);
for (const auto & collector : subscriber_statistics_collectors_) {
collector->OnMessageReceived(received_message, now_nanoseconds.nanoseconds());
collector->OnMessageReceived(message_info, now_nanoseconds.nanoseconds());
}
}

Expand Down
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