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Add statistics for handle_loaned_message (backport #1927) (#1934)

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* Add statistics for handle_loaned_message (#1927)

Signed-off-by: Barry Xu <barry.xu@sony.com>
(cherry picked from commit 5c688303b3cb994969f448979f64c12971243295)

# Conflicts:
#	rclcpp/include/rclcpp/subscription.hpp

* Fix merge conflicts (#1939)

Signed-off-by: Barry Xu <barry.xu@sony.com>
This commit is contained in:
mergify[bot] 2022-06-09 11:49:31 -07:00 • committed by GitHub
parent 5c1dd19456
commit 48ec78cb24
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1 changed files with 20 additions and 0 deletions
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20
rclcpp/include/rclcpp/subscription.hpp
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@ -287,11 +287,31 @@ public:
void * loaned_message,
const rclcpp::MessageInfo & message_info) override
{
if (matches_any_intra_process_publishers(&message_info.get_rmw_message_info().publisher_gid)) {
// In this case, the message will be delivered via intra process and
// we should ignore this copy of the message.
return;
}
auto typed_message = static_cast<CallbackMessageT *>(loaned_message);
// message is loaned, so we have to make sure that the deleter does not deallocate the message
auto sptr = std::shared_ptr<CallbackMessageT>(
typed_message, [](CallbackMessageT * msg) {(void) msg;});
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(sptr, 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(*typed_message, time);
}
}
/// Return the borrowed message.