RoverLehre/ROS2_pubsub
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Implemented the Message Overfolw Watchdog

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This commit is contained in:
Christopher Herr 2023-03-25 16:23:01 +01:00
parent 6f9cdeb008
commit 216bc96396
1 changed files with 16 additions and 2 deletions
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18
src/pubsub/pubsub/pubsub_library_v4.py
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@ -21,6 +21,7 @@ import rclpy
from rclpy.node import Node from rclpy.node import Node
from rclpy.action import ActionClient from rclpy.action import ActionClient
from rclpy.action import ActionServer, CancelResponse from rclpy.action import ActionServer, CancelResponse
import time
# How to use, please refer to: # How to use, please refer to:
# Topic: # Topic:
@ -95,6 +96,8 @@ class MinimalSubscriber(Node):
self.CUSTOM_MSG = MSG_TYPE self.CUSTOM_MSG = MSG_TYPE
self.NUM_MSGS = NUM_MSGS self.NUM_MSGS = NUM_MSGS
self.topic_received = False self.topic_received = False
self.overflow = False
self.watchdog = 0
# Init above laying class "Node" # Init above laying class "Node"
super().__init__(self.NODE_NAME) super().__init__(self.NODE_NAME)
self.subscription = self.create_subscription( self.subscription = self.create_subscription(
@ -108,14 +111,25 @@ class MinimalSubscriber(Node):
def listener_callback(self, msg): def listener_callback(self, msg):
#self.get_logger().info('I heard: "%s"' % msg.data) #self.get_logger().info('I heard: "%s"' % msg.data)
self.last_msg_time = time.time()
self.topic_received = True self.topic_received = True
self.msg = msg self.msg = msg
return return
def return_msg(self): def return_msg(self):
return self.msg 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
#******************************************************************************# #******************************************************************************#