Add received message age metric to topic statistics (ros2#1080)

* Add received message age metric to topic statistics Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Add unit tests Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Add IMU messages in unit test Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Use system time instead of steady time Test received message age stats values are greater than 0 Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix test warnings Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Replace IMU messages with new dummy messages Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Remove outdated TODO and unused test variables Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Re-add message with header for unit testing Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Address message review feedback Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Remove extra newline Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Address more review feedback Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix Windows failure Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Only set append_library_dirs once Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
DensoADAS · Jul 7, 2020 · 2981fb8 · 2981fb8
1 parent 56a7285
commit 2981fb8
Show file tree

Hide file tree

Showing 8 changed files with 228 additions and 53 deletions.
diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
@@ -223,6 +224,14 @@ if(BUILD_TESTING)
 
   add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
 
+  rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
+    test/msg/Header.msg
+    test/msg/MessageWithHeader.msg
+    DEPENDENCIES builtin_interfaces
+    LIBRARY_NAME ${PROJECT_NAME}
+    SKIP_INSTALL
+  )
+
   ament_add_gtest(test_client test/test_client.cpp)
   if(TARGET test_client)
     ament_target_dependencies(test_client
@@ -610,9 +619,12 @@ if(BUILD_TESTING)
     target_link_libraries(test_wait_set ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp)
+  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  )
   if(TARGET test_subscription_topic_statistics)
     ament_target_dependencies(test_subscription_topic_statistics
+      "builtin_interfaces"
       "libstatistics_collector"
       "rcl_interfaces"
       "rcutils"
@@ -621,6 +633,7 @@ if(BUILD_TESTING)
       "rosidl_typesupport_cpp"
       "statistics_msgs"
       "test_msgs")
+    rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
     target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
   endif()
 

diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
@@ -271,8 +271,8 @@ class Subscription : public SubscriptionBase
 
     if (subscription_topic_statistics_) {
       const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(
-        std::chrono::steady_clock::now());
-      const auto time = rclcpp::Time(nanos.time_since_epoch().count(), RCL_STEADY_TIME);
+        std::chrono::system_clock::now());
+      const auto time = rclcpp::Time(nanos.time_since_epoch().count());
       subscription_topic_statistics_->handle_message(*typed_message, time);
     }
   }

diff --git a/rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp b/rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp
@@ -23,6 +23,7 @@
 #include "libstatistics_collector/collector/generate_statistics_message.hpp"
 #include "libstatistics_collector/moving_average_statistics/types.hpp"
 #include "libstatistics_collector/topic_statistics_collector/constants.hpp"
+#include "libstatistics_collector/topic_statistics_collector/received_message_age.hpp"
 #include "libstatistics_collector/topic_statistics_collector/received_message_period.hpp"
 
 #include "rcl/time.h"
@@ -56,6 +57,9 @@ class SubscriptionTopicStatistics
   using TopicStatsCollector =
     libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector<
     CallbackMessageT>;
+  using ReceivedMessageAge =
+    libstatistics_collector::topic_statistics_collector::ReceivedMessageAgeCollector<
+    CallbackMessageT>;
   using ReceivedMessagePeriod =
     libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector<
     CallbackMessageT>;
@@ -173,6 +177,10 @@ class SubscriptionTopicStatistics
    */
   void bring_up()
   {
+    auto received_message_age = std::make_unique<ReceivedMessageAge>();
+    received_message_age->Start();
+    subscriber_statistics_collectors_.emplace_back(std::move(received_message_age));
+
     auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
     received_message_period->Start();
     {

diff --git a/rclcpp/package.xml b/rclcpp/package.xml
@@ -37,6 +37,7 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
+  <test_depend>rosidl_default_generators</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>

diff --git a/rclcpp/test/msg/Header.msg b/rclcpp/test/msg/Header.msg
@@ -0,0 +1,3 @@
+# Simple Header message with a timestamp field.
+
+builtin_interfaces/Time stamp
diff --git a/rclcpp/test/msg/MessageWithHeader.msg b/rclcpp/test/msg/MessageWithHeader.msg
@@ -0,0 +1,3 @@
+# Message containing a simple Header field.
+
+Header header