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Introduced condition variable in ROS2 subscriber to solve 500ms latency spikes

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Peter van der Perk
2019-11-05 15:02:12 +01:00
committed by Nuno Marques
parent ef475fa9d8
commit 08a27492b4
5 changed files with 26 additions and 25 deletions
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msg/templates/urtps/Subscriber.h.em
+7 -3
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@@ -74,6 +74,9 @@ except AttributeError:
#include "@(topic)PubSubTypes.h"
@[end if]@
#include <atomic>
#include <condition_variable>
using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps;
@@ -82,7 +85,7 @@ class @(topic)_Subscriber
public:
@(topic)_Subscriber();
virtual ~@(topic)_Subscriber();
bool init();
bool init(std::condition_variable* cv);
void run();
bool hasMsg();
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@@ -105,7 +108,7 @@ private:
class SubListener : public SubscriberListener
{
public:
SubListener() : n_matched(0), n_msg(0){};
SubListener() : n_matched(0), n_msg(0), has_msg(false){};
~SubListener(){};
void onSubscriptionMatched(Subscriber* sub, MatchingInfo& info);
void onNewDataMessage(Subscriber* sub);
@@ -125,7 +128,8 @@ private:
@(topic) msg;
@[ end if]@
@[end if]@
bool has_msg = false;
std::atomic_bool has_msg;
std::condition_variable* cv_msg;
} m_listener;
@[if 1.5 <= fastrtpsgen_version <= 1.7]@