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Asynchronous stream frequency diagnostics #1471

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merged 3 commits into from
Nov 19, 2020
Merged

Asynchronous stream frequency diagnostics #1471

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65010a1
Separate framerate update from diagnostics pub
kubja Oct 28, 2020
c317437
Update frequency even when no subscribers
kubja Oct 28, 2020
a7c2ceb
Publish diagnostics update asynchronously
kubja Oct 28, 2020
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Publish diagnostics update asynchronously
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@kubja
kubja committed Oct 28, 2020
commit a7c2cebde9b2ea83f131bcb8fbda59b1f4b6f08e
1 change: 1 addition & 0 deletions realsense2_camera/include/base_realsense_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -242,6 +242,7 @@ namespace realsense2_camera
rs2_stream rs2_string_to_stream(std::string str);
void startMonitoring();
void publish_temperature();
void publish_frequency_update();

rs2::device _dev;
std::map<stream_index_pair, rs2::sensor> _sensors;
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11 changes: 10 additions & 1 deletion realsense2_camera/src/base_realsense_node.cpp
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Expand Up @@ -2322,7 +2322,7 @@ void BaseRealSenseNode::startMonitoring()
_temperature_nodes.push_back({option, std::make_shared<TemperatureDiagnostics>(rs2_option_to_string(option), _serial_no )});
}

int time_interval(10000);
int time_interval(1000);
std::function<void()> func = [this, time_interval](){
std::mutex mu;
std::unique_lock<std::mutex> lock(mu);
Expand All @@ -2331,6 +2331,7 @@ void BaseRealSenseNode::startMonitoring()
if (_is_running)
{
publish_temperature();
publish_frequency_update();
}
}
};
Expand Down Expand Up @@ -2358,6 +2359,14 @@ void BaseRealSenseNode::publish_temperature()
}
}

void BaseRealSenseNode::publish_frequency_update()
{
for (auto &image_publisher : _image_publishers)
{
image_publisher.second.second->update();
}
}

TemperatureDiagnostics::TemperatureDiagnostics(std::string name, std::string serial_no)
{
_updater.add(name, this, &TemperatureDiagnostics::diagnostics);
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