Add "--max-cache-duration" option to the Recorder to facilitate the time bounded snapshot feature #2289
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- Added the "--snapshot-duration" CLI option. Default value 0 indicates that the snapshot will be limited by the --max-cache-size parameter only. If the value is more than 0, the cyclic buffer for the snapshot will be limited by both the series of messages duration and the maximum cache size parameter. - To override the upper bound by total messages size, the "--maximum-cache-size" CLI option can be settled to 0. Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
- Add ability to limit MessageCacheBuffer by duration in addition to the limit by the buffer size. Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
- Rationale: 1. On practice there are no value to have cache in a fraction of seconds we can always limit by size as well. 2. It is much easier to operate with a plain integer type rather than rclcpp::Duration. 3. It would be good to avoid dependencies from the rclcpp layer in the StorageOptions data struct. Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>
MichaelOrlov
requested review from
Barry-Xu-2018,
christophebedard,
emersonknapp and
fujitatomoya
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Description
This PR adds the ability to limit the inner Recorder cache not only by size, but also by duration in seconds.
This is a more generic alternative to the "--snapshot-duration" CLI option implemented in the #1844
Originally, the implementation was planed to be made only for the
snapshot modeto be used as a time bounded snapshot feature. However, it was generalized and the same "--max-cache-duration" CLI option can be used as a cache limiter for the regular recording.Note: The max-cache-duration it is set to 0 by default for backward compatability behavior. i.e. only
--max-cache-sizecache limiter will be applied by default.Is this user-facing behavior change?
Yes, a new "--max-cache-duration" CLI option was added
Did you use Generative AI?
Yes. GitHub Copilot, GPT-5 was used to help with unit tests and Doxygen comments.
Additional Information
This PR is not backportable, because it has API/ABI breaking changes.