Implement no-op on IPC subscription #38
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mauropasse
commented
Feb 1, 2021
| @@ -73,6 +73,7 @@ class RingBufferImplementation : public BufferImplementationBase<BufferT> | |||
| ring_buffer_[write_index_] = std::move(request); | |||
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| if (is_full_()) { | |||
| RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Ring buffer is full! Buffer capacity: %lu", capacity_); | |||
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This log is useful but can happen often, don't know if it's a good idea to have it.
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it's useful for us, but not for standard users.
We could change it to debug, rather than error
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Now trying to take a message when there's any, provoques just an error to be logged, but the program continues.
In the following image, the output of a pub-sub where the subscription has depth=1 and the publisher publishes several messages before the subscription start spinning, so accumulates events in the queue but there's only one message in the buffer.
In this case there are 4 events in the queue when the subscription starts, so it takes the 1st message but the rest 3 are no-ops.