Improve service and subscription reliability #92
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This is not strictly required, but it does make ownership clearer. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
This allows us to do RAII and drop things in all paths properly. Signed-off-by: Chris Lalancette <[email protected]>
rmw_context_fini is called during the atexit handler, so we can't do complex things like shutdown the session. Instead, switch to shutting down the session during rmw_shutdown. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
There are more comments in the code, but in particular this change makes sure we deal with data that is already ready, rather than always waiting. With this in place, services seem to work as promised. Signed-off-by: Chris Lalancette <[email protected]>
Since it is a deque, it doesn't *really* matter whether we push from the back and pull from the front, or push from the front and pull from the back. Switch to pushing to the back and pulling from the front so we match what the clients and services are doing. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Yadunund
approved these changes
Jan 19, 2024
| @@ -56,15 +56,12 @@ rmw_ret_t zenoh_router_check(z_session_t session) | |||
| // Define callback | |||
| auto callback = [](const struct z_id_t * id, void * ctx) { | |||
| const std::string id_str = zid_to_str(*id); | |||
| RCUTILS_LOG_INFO_NAMED( | |||
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Just realized that there is a zid_to_str() method defined here and also within liveliness_utils.cpp. I'll ticket it to be fixed later.
This was referenced Jan 23, 2024
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This rather large PR is the culmination of about a week's worth of work. The ultimate goal of this work was to improve service reliability, but along the way numerous fixes to publishers, subscriptions, clients, services, and wait sets were made.
It's probably helpful to read the description of each of the commits, but roughly:
With this PR in place, services now work reliably for me in local testing. It definitely needs more testing on larger systems, but these cleanups should get us a lot closer to having that work.