API review

Proposer: Rob Wheeler

Present at review:

• List reviewers

Question / concerns / comments

Wim

• realtime publisher/srv
  • make methods that are not part of the public api (such as "publishingLoop" etc) private.
  • document public api
  • the publishing/call loop should only lock the buffer when there is new data available. Periodically locking it causes many trylock's to fail.
• realtime infuser
  • document public api

Tully

There's a great need of doxygen.

• I believe that this is the only user of BufferedData* messages I would propose to pull them into this package. They are used for debugging, and as far as I can see noone is using them in code. They will be most useful for rostopic which can handle finding them.

• The APIs need summaries of expected uses and conditions where it's appropriate to use these classes and where not.

Meeting agenda

• talk to kevin about realtime srv

• move recoder to .. (stu decide) ->

  • see if realtime publisher can support this functionality

  • have realtime array publisher? -> roadmap

• realtime publisher drops msgs in buffer between realtime and non-realtime

  • can ros take msgs at 1kHz? -> done from ethercat

  • recorder limits bandwidth usage
• infuser
  • get data from non-reltime into realtime
  • limited to 1 reader because of allocation question in rt
  • use in realtiem publisher?
  • look at rt fifo's. Josh maybe found one
  • set policy for when one side can't keep up
  • we are not using infuser: it does not support what we need for the trajectory controller
  • could create infuser that uses locks and priority inversion as we do now in trajectory controller
  • proposal:
    • write realtime box (stu)
    • kill realtime infuser

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved