Add QoS bounded queue#43
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mauropasse wants to merge 190 commits intoirobot-ros:irobot/add-events-executorfrom
Open
Add QoS bounded queue#43mauropasse wants to merge 190 commits intoirobot-ros:irobot/add-events-executorfrom
mauropasse wants to merge 190 commits intoirobot-ros:irobot/add-events-executorfrom
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added 30 commits
October 2, 2020 13:48
error: deallocuse - Dereferencing 'node_ptr' after it is deallocated / released Seems that: NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr); causes the cppcheck to fail if node_ptr is used after creating the weak pointer from it.
Reorder APIs arguments
…ss-2 Add events queue abstract class and implem
rename rmw_listener_cb_t->rmw_listener_callback_t
Implement no-op on IPC subscription
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This PR is not intended to be merged, but could be useful for discussing a bounded queue design & implementation.
This QoS bounded queue has a limit set on construction, for example 100 elements. When we surpase this limit, we prune the queue.
The pruning is based on the QoS->depth of each entity event in the queue, so if we had for example 20 events from an entity with QoS->depth=10, we remove the 10 oldest events.
This implies having QoS->depth defined for each entity, as Waitables, which is not conceptually correct.
Also we need new APIs to map each entity with their depths.
After pruning, we might still have more events in the queue than the limit set, if the QoS->depth of an entity is bigger than the queue limit.
If we don't take into account the QoS->depth of each entity, and for example we prune the queue by removing all elements, we'll be behind the DDS queues (like IPC ring buffer) and new events will retrieve older messages. So in order to prune the queue without taking into account QoS, we should be able to also prune the DDS internal queues.