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rostopic: Add --tcpnodelay TransportHint option to hz and delay commands #1296

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Feb 1, 2018
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rostopic: Add --tcpnodelay TransportHint option to hz and delay commands #1296

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24 changes: 16 additions & 8 deletions tools/rostopic/src/rostopic/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -290,13 +290,14 @@ def _get_ascii_table(header, cols):
def _sleep(duration):
rospy.rostime.wallsleep(duration)

def _rostopic_hz(topics, window_size=-1, filter_expr=None, use_wtime=False):
def _rostopic_hz(topics, window_size=-1, filter_expr=None, use_wtime=False, tcp_nodelay=False):
"""
Periodically print the publishing rate of a topic to console until
shutdown
:param topics: topic names, ``list`` of ``str``
:param window_size: number of messages to average over, -1 for infinite, ``int``
:param filter_expr: Python filter expression that is called with m, the message instance
:param tcp_nodelay: Subscribe with the TCP_NODELAY transport hint if true
"""
_check_master()
if rospy.is_shutdown():
Expand All @@ -309,9 +310,9 @@ def _rostopic_hz(topics, window_size=-1, filter_expr=None, use_wtime=False):
# may parameterize this in the future
if filter_expr is not None:
# have to subscribe with topic_type
rospy.Subscriber(real_topic, msg_class, rt.callback_hz, callback_args=topic)
rospy.Subscriber(real_topic, msg_class, rt.callback_hz, callback_args=topic, tcp_nodelay=tcp_nodelay)
else:
rospy.Subscriber(real_topic, rospy.AnyMsg, rt.callback_hz, callback_args=topic)
rospy.Subscriber(real_topic, rospy.AnyMsg, rt.callback_hz, callback_args=topic, tcp_nodelay=tcp_nodelay)
print("subscribed to [%s]" % real_topic)

if rospy.get_param('use_sim_time', False):
Expand Down Expand Up @@ -396,20 +397,21 @@ def print_delay(self):
print("average delay: %.3f\n\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s"%(delay, min_delta, max_delta, std_dev, window))


def _rostopic_delay(topic, window_size=-1):
def _rostopic_delay(topic, window_size=-1, tcp_nodelay=False):
"""
Periodically print the publishing delay of a topic to console until
shutdown
:param topic: topic name, ``str``
:param window_size: number of messages to average over, -1 for infinite, ``int``
:param tcp_nodelay: Subscribe with the TCP_NODELAY transport hint if true
"""
# pause hz until topic is published
msg_class, real_topic, _ = get_topic_class(topic, blocking=True)
if rospy.is_shutdown():
return
rospy.init_node(NAME, anonymous=True)
rt = ROSTopicDelay(window_size)
sub = rospy.Subscriber(real_topic, msg_class, rt.callback_delay)
sub = rospy.Subscriber(real_topic, msg_class, rt.callback_delay, tcp_nodelay=tcp_nodelay)
print("subscribed to [%s]" % real_topic)

if rospy.get_param('use_sim_time', False):
Expand Down Expand Up @@ -1482,7 +1484,10 @@ def _rostopic_cmd_hz(argv):
help="only measure messages matching the specified Python expression", metavar="EXPR")
parser.add_option("--wall-time",
dest="use_wtime", default=False, action="store_true",
help="calculates rate using wall time which can be helpful when clock isnt published during simulation")
help="calculates rate using wall time which can be helpful when clock isn't published during simulation")
parser.add_option("--tcpnodelay",
dest="tcp_nodelay", action="store_true",
help="use the TCP_NODELAY transport hint when subscribing to topics")

(options, args) = parser.parse_args(args)
if len(args) == 0:
Expand All @@ -1504,7 +1509,7 @@ def eval_fn(m):
else:
filter_expr = None
_rostopic_hz(topics, window_size=window_size, filter_expr=filter_expr,
use_wtime=options.use_wtime)
use_wtime=options.use_wtime, tcp_nodelay=options.tcp_nodelay)


def _rostopic_cmd_delay(argv):
Expand All @@ -1515,12 +1520,15 @@ def _rostopic_cmd_delay(argv):
parser.add_argument("-w", "--window",
dest="window_size", default=-1, type=int,
help="window size, in # of messages, for calculating rate")
parser.add_argument("--tcpnodelay",
dest="tcp_nodelay", action="store_true",
help="use the TCP_NODELAY transport hint when subscribing to topics")

args = parser.parse_args(args)
topic_name = args.topic
window_size = args.window_size
topic = rosgraph.names.script_resolve_name('rostopic', topic_name)
_rostopic_delay(topic, window_size=window_size)
_rostopic_delay(topic, window_size=window_size, tcp_nodelay=args.tcp_nodelay)


def _rostopic_cmd_bw(argv=sys.argv):
Expand Down