Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Serialized Messages with Topic Statistics #2274

Merged
merged 4 commits into from Nov 3, 2023
Merged

Serialized Messages with Topic Statistics #2274

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
7eb4123
Starting idea
CursedRock17 Aug 15, 2023
8914d43
intra process available
CursedRock17 Aug 15, 2023
78a317d
removed intra
CursedRock17 Sep 3, 2023
0932788
Removing serialization header
CursedRock17 Nov 3, 2023
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
14 changes: 13 additions & 1 deletion rclcpp/include/rclcpp/subscription.hpp
View file
Open in desktop
Expand Up @@ -325,8 +325,20 @@ class Subscription : public SubscriptionBase
const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
const rclcpp::MessageInfo & message_info) override
{
// TODO(wjwwood): enable topic statistics for serialized messages
std::chrono::time_point<std::chrono::system_clock> now;
if (subscription_topic_statistics_) {
// get current time before executing callback to
// exclude callback duration from topic statistics result.
now = std::chrono::system_clock::now();
}

any_callback_.dispatch(serialized_message, message_info);

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(message_info.get_rmw_message_info(), time);
}
}

void
Expand Down