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Serialized Messages with Topic Statistics #2274

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merged 4 commits into from
Nov 3, 2023
Merged

Serialized Messages with Topic Statistics #2274

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7eb4123
Starting idea
CursedRock17 Aug 15, 2023
8914d43
intra process available
CursedRock17 Aug 15, 2023
78a317d
removed intra
CursedRock17 Sep 3, 2023
0932788
Removing serialization header
CursedRock17 Nov 3, 2023
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14 changes: 13 additions & 1 deletion rclcpp/include/rclcpp/subscription.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -325,8 +325,20 @@ class Subscription : public SubscriptionBase
const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
const rclcpp::MessageInfo & message_info) override
{
// TODO(wjwwood): enable topic statistics for serialized messages
std::chrono::time_point<std::chrono::system_clock> now;
if (subscription_topic_statistics_) {
// get current time before executing callback to
// exclude callback duration from topic statistics result.
now = std::chrono::system_clock::now();
}

any_callback_.dispatch(serialized_message, message_info);

if (subscription_topic_statistics_) {
const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
const auto time = rclcpp::Time(nanos.time_since_epoch().count());
subscription_topic_statistics_->handle_message(message_info.get_rmw_message_info(), time);
}
}

void
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