Skip to content
This repository has been archived by the owner on Jun 10, 2021. It is now read-only.

Added publish period attribute as a parameter #71

Closed
wants to merge 2 commits into from
Closed

Added publish period attribute as a parameter #71

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d8c7f3a
Added publish period as a parameter
ahcorde Jan 15, 2020
19446e5
Publish_period param read_only
ahcorde Jan 15, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
12 changes: 10 additions & 2 deletions system_metrics_collector/src/system_metrics_collector/periodic_measurement_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,11 +48,19 @@ PeriodicMeasurementNode::PeriodicMeasurementNode(
throw std::invalid_argument{"publishing_topic cannot be empty"};
}

if (publish_period <= std::chrono::milliseconds{0}) {
int publish_period_param = 0;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.read_only = true;
declare_parameter("publish_period", publish_period_.count(), descriptor);
Copy link

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Nit: It might be useful to extract "publish_period" into a constant

if (get_parameter("publish_period", publish_period_param)) {
publish_period_ = std::chrono::milliseconds(publish_period_param);
Copy link

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Suggested change
publish_period_ = std::chrono::milliseconds(publish_period_param);
publish_period_ = std::chrono::milliseconds{publish_period_param};

}

if (publish_period_ <= std::chrono::milliseconds{0}) {
throw std::invalid_argument{"publish_period cannot be negative"};
}

if (publish_period <= measurement_period) {
if (publish_period_ <= measurement_period) {
throw std::invalid_argument{
"publish_period cannot be less than or equal to the measurement_period"};
}
Expand Down
2 changes: 1 addition & 1 deletion system_metrics_collector/src/system_metrics_collector/periodic_measurement_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ class PeriodicMeasurementNode : public system_metrics_collector::Collector,
/**
* The period used to publish measurement data
*/
const std::chrono::milliseconds publish_period_;
std::chrono::milliseconds publish_period_;

rclcpp::TimerBase::SharedPtr measurement_timer_;
rclcpp::TimerBase::SharedPtr publish_timer_;
Expand Down