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Update 'src/pubsub/pubsub/pubsub_library_v4.py'

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Added trust to reset the watchdog
This commit is contained in:
Christopher Herr 2023-05-08 20:17:14 +02:00
parent 7d27ff3eba
commit 95276b75da
1 changed files with 9 additions and 2 deletions
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11
src/pubsub/pubsub/pubsub_library_v4.py
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@ -98,6 +98,7 @@ class MinimalSubscriber(Node):
self.topic_received = False
self.overflow = False
self.watchdog = 0
self.trust = 0
self.msg = None
super().__init__(self.NODE_NAME)
self.subscription = self.create_subscription(
@ -123,7 +124,7 @@ class MinimalSubscriber(Node):
def return_msg(self):
return self.msg
def timer_overflow(self, time_limit=0, numer_of_timer_overflows=10):
def timer_overflow(self, time_limit=0, number_of_timer_overflows=10, trust_factor=1):
"""Watchdog for Topic Publisher Messages\n
ture = timer_overflow >> error
false = no timer_overflow >> no error"""
@ -131,9 +132,15 @@ class MinimalSubscriber(Node):
if time_limit > 0:
if time.time() > self.last_msg_time + time_limit:
self.watchdog += 1
self.trust = 0
self.get_logger().warn(f"Message-Watchdog triggered {self.watchdog} times")
if self.watchdog > numer_of_timer_overflows:
if self.watchdog > number_of_timer_overflows:
self.overflow = True
if self.watchdog > 0:
if time.time() < self.last_msg_time + time_limit:
self.trust += 1
if self.trust > number_of_timer_overflows * trust_factor:
self.watchdog = 0
return self.overflow