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Merge pull request #10 from JanStaschulat/feature/real-time-tutorial
added minimal_scheduling_real_time_tutorial.cpp
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minimal_scheduling/minimal_scheduling_real_time_executor.cpp
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| // Copyright 2023 | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include <chrono> | ||
| #include <memory> | ||
| #include <string> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
| #include "std_msgs/msg/string.hpp" | ||
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| #include "rusage_utils.hpp" | ||
| #include "sched_utils.hpp" | ||
| #include "command_line_options.hpp" | ||
| #include "burn_cpu_cycles.hpp" | ||
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| /* For this example, we will be using two Executors running in different threads to separate | ||
| * callback processing, so it is possible to spin them in threads with different scheduling | ||
| * priorities. | ||
| */ | ||
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| using namespace std::chrono_literals; | ||
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| static ContextSwitchesCounter context_switches_counter(RUSAGE_THREAD); | ||
| static ContextSwitchesCounter context_switches_counter_rt(RUSAGE_THREAD); | ||
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| class MinimalPublisher : public rclcpp::Node | ||
| { | ||
| public: | ||
| MinimalPublisher() | ||
| : Node("minimal_pub"), count1_(0), count2_(0) | ||
| { | ||
| publisher1_ = this->create_publisher<std_msgs::msg::String>("topic", 10); | ||
| auto timer_callback1 = | ||
| [this]() -> void { | ||
| auto message = std_msgs::msg::String(); | ||
| message.data = "Hello, world! " + std::to_string(this->count1_++); | ||
| this->publisher1_->publish(message); | ||
| }; | ||
| timer1_ = this->create_wall_timer(500ms, timer_callback1); | ||
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| publisher2_ = this->create_publisher<std_msgs::msg::String>("topic_rt", 10); | ||
| auto timer_callback2 = | ||
| [this]() -> void { | ||
| auto message = std_msgs::msg::String(); | ||
| message.data = "Hello, world! " + std::to_string(this->count2_++); | ||
| this->publisher2_->publish(message); | ||
| }; | ||
| timer2_ = this->create_wall_timer(500ms, timer_callback2); | ||
| } | ||
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| private: | ||
| rclcpp::TimerBase::SharedPtr timer1_, timer2_; | ||
| rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher1_, publisher2_; | ||
| size_t count1_, count2_; | ||
| }; | ||
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| class MinimalSubscriber : public rclcpp::Node | ||
| { | ||
| public: | ||
| MinimalSubscriber(const std::string & node_name, const std::string & topic_name) | ||
| : Node(node_name), context_switches_counter_(RUSAGE_THREAD) | ||
| { | ||
| subscription1_ = this->create_subscription<std_msgs::msg::String>( | ||
| topic_name, | ||
| 10, | ||
| [this](std_msgs::msg::String::UniquePtr) { | ||
| auto context_switches = context_switches_counter_.get(); | ||
| if (context_switches > 0L) { | ||
| RCLCPP_WARN( | ||
| this->get_logger(), "[sub] Involuntary context switches: '%lu'", | ||
| context_switches); | ||
| } else { | ||
| RCLCPP_INFO( | ||
| this->get_logger(), "[sub] Involuntary context switches: '%lu'", | ||
| context_switches); | ||
| } | ||
| burn_cpu_cycles(200ms); | ||
| }); | ||
| } | ||
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| private: | ||
| rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription1_; | ||
| ContextSwitchesCounter context_switches_counter_; | ||
| }; | ||
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| int main(int argc, char * argv[]) | ||
| { | ||
| // Force flush of the stdout buffer. | ||
| setvbuf(stdout, NULL, _IONBF, BUFSIZ); | ||
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| auto options_reader = SchedOptionsReader(); | ||
| if (!options_reader.read_options(argc, argv)) { | ||
| options_reader.print_usage(); | ||
| return 0; | ||
| } | ||
| auto options = options_reader.get_options(); | ||
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| rclcpp::init(argc, argv); | ||
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| auto node_pub = std::make_shared<MinimalPublisher>(); | ||
| auto node_sub = std::make_shared<MinimalSubscriber>("minimal_sub1", "topic"); | ||
| auto node_sub_rt = std::make_shared<MinimalSubscriber>("minimal_sub2", "topic_rt"); | ||
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| rclcpp::executors::StaticSingleThreadedExecutor default_executor; | ||
| rclcpp::executors::StaticSingleThreadedExecutor realtime_executor; | ||
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| // the publisher and non real-time subscriber are processed by default_executor | ||
| default_executor.add_node(node_pub); | ||
| default_executor.add_node(node_sub); | ||
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| // real-time subscriber is processed by realtime_executor. | ||
| realtime_executor.add_node(node_sub_rt); | ||
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| // middleware threads are not configured with real-time priority | ||
| // because scheduling configuration of main thread is not real-time. | ||
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| // Note: you can only add complete nodes to an Executor. That is: | ||
| // If a node has multiple entities (e.g. subscribers) then the corresponding | ||
| // callbacks are all entities processed with the same scheduling configuration | ||
| // of the thread, in which the Executor is spinning. | ||
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| // spin non real-time tasks in a separate thread | ||
| auto default_thread = std::thread( | ||
| [&]() { | ||
| default_executor.spin(); | ||
| }); | ||
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| // spin real-time tasks in a separate thread | ||
| auto realtime_thread = std::thread( | ||
| [&]() { | ||
| realtime_executor.spin(); | ||
| }); | ||
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| set_thread_scheduling(realtime_thread.native_handle(), options.policy, options.priority); | ||
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| default_thread.join(); | ||
| realtime_thread.join(); | ||
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| rclcpp::shutdown(); | ||
| return 0; | ||
| } |
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| <maintainer email="[email protected]">Carlos San Vicente</maintainer> | ||
| <license>Apache License 2.0</license> | ||
| <author>Carlos San Vicente</author> | ||
| <author>Jan Staschulat</author> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
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