feat: introduce the advanced publisher and subscriber #368
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YuanYuYuan
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Update: The deadlock fix has been merged. Mark this PR as ready for review. |
Test Failure
No new failure is found. |
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Update: bump up zenoh-cpp version to include the memory leak fix eclipse-zenoh/zenoh-cpp#363. |
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Will rebase once #405 is merged. |
YuanYuYuan
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I have the following additional questions
- It looks like this PR does not fix [Test Failure] rclcpp_action / test_client #326. But from my experience, it changes the behavior from deterministically failing to failing sometimes. ie, the test is now flaky. Do you observe the same?
- With
AdvancedSubscribersdo we no longer need to callGet()when we detect anAdvancedPublisherwith publication cache? This was needed to fix Subscribers sometimes not getting messages from topics using durability transient_local #263.
| adv_sub_opts.history->detect_late_publishers = true; | ||
| adv_sub_opts.history->max_samples = entity_->topic_info()->qos_.depth; | ||
| adv_sub_opts.recovery = zenoh::ext::SessionExt::AdvancedSubscriberOptions::RecoveryOptions{}; | ||
| adv_sub_opts.recovery->periodic_queries_period_ms = 1000; |
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Again looking at the documentation, it sounds like recovery options should only be enabled if reliability is RELIABLE. Could you clarify on the behavior?
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Similarly, answered in #368 (comment).
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Could we add some comments on why a value of 1000 is appropriate for periodic_queries_period_ms?
…claration deadlock
YuanYuYuan
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Here’s an improved version of your paragraph with clearer phrasing and a more professional tone:
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Redid the test with the repos. No new failures were found.
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| sub_options.query_keyexpr = std::move(selector_ke); | ||
| // Tell the PublicationCache's Queryable that the query accepts any key expression as a reply. | ||
| // By default a query accepts only replies that matches its query selector. | ||
| // This allows us to selectively query certain PublicationCaches when defining the | ||
| // set_querying_subscriber_callback below. | ||
| sub_options.query_accept_replies = ZC_REPLY_KEYEXPR_ANY; | ||
| // As this initial query is now using a "*", the query target is not COMPLETE. | ||
| sub_options.query_target = Z_QUERY_TARGET_ALL; | ||
| // We set consolidation to none as we need to receive transient local messages | ||
| // from a number of publishers. Eg: To receive TF data published over /tf_static | ||
| // by various publishers. | ||
| sub_options.query_consolidation = | ||
| zenoh::QueryConsolidation(zenoh::ConsolidationMode::Z_CONSOLIDATION_MODE_NONE); |
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And it does not look like there is a way to set these parameters anymore. Can you confirm that the behavior with the AdvancedSubscriber will match the expectations of the old implementation?
With this PR, we replace the
QueryingSubscriberandPublicationCache(+ a normal publisher)with the
AdvancedSubscriberandAdvancedPublisher.NOTE: A deadlock is found when undeclaring advanced subscribers. It will be fixed once eclipse-zenoh/zenoh#1685 is merged and synced with zenoh-c.