Implemented the Message Overfolw Watchdog

src/pubsub/pubsub/pubsub_library_v4.py

@@ -21,6 +21,7 @@ import rclpy
 from rclpy.node import Node
 from rclpy.action import ActionClient
 from rclpy.action import ActionServer, CancelResponse
+import time
 
 # How to use, please refer to:
 # Topic:
@@ -95,6 +96,8 @@ class MinimalSubscriber(Node):
         self.CUSTOM_MSG = MSG_TYPE
         self.NUM_MSGS = NUM_MSGS
         self.topic_received = False
+        self.overflow = False
+        self.watchdog = 0
         # Init above laying class "Node"
         super().__init__(self.NODE_NAME)
         self.subscription = self.create_subscription(
@@ -108,14 +111,25 @@ class MinimalSubscriber(Node):
 
     def listener_callback(self, msg):
         #self.get_logger().info('I heard: "%s"' % msg.data)
+        self.last_msg_time = time.time()
         self.topic_received = True
         self.msg = msg
         return
 
     def return_msg(self):
         return self.msg
-
-
+    
+    def timer_overflow(self, time_limit=0):
+        """Watchdog for Topic Publisher Messages\n
+        ture = timer_overflow >> error 
+        false = no timer_overflow >> no error"""
+        if time_limit > 0:
+            if time.time() > self.last_msg_time + time_limit:
+                self.watchdog += 1
+                self.get_logger().warn(f"Message-Watchdog triggered {self.watchdog} times")
+                if self.watchdog > 10:
+                    self.overflow = True
+        return self.overflow
 
 
 #******************************************************************************#