fix(uxrce_dds_client): drain rx buffer by time budget instead of fixe…#27422
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SofianElmotiem wants to merge 2 commits into
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fix(uxrce_dds_client): drain rx buffer by time budget instead of fixe…#27422SofianElmotiem wants to merge 2 commits into
SofianElmotiem wants to merge 2 commits into
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…d iterations at high inbound topic rates like 100hz the old 10 iteration cap wasnt enough to drain the udp rx buffer, causing the xrce session to silently break and stop publishing data Signed-off-by: SofianElmotiem <sofianelmotiem@gmail.com>
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fix(uxrce_dds_client): drain rx buffer by time budget instead of fixed iterations
at high inbound topic rates like 100hz the old 10 iteration cap wasnt
enough to drain the udp rx buffer, causing the xrce session to silently
break and stop publishing data
Solved Problem
Fixes #27388
Solution
replaced the fixed 10 iteration drain loop with a 3ms time-budget loop.
at 100hz inbound (e.g. vehicle_visual_odometry for SLAM) the udp receive
buffer fills faster than 10 iterations can drain it. the session then
loses track of state and silently stops publishing. draining until the
buffer is empty or the budget expires fixes this without starving other
work on the queue.
Changelog Entry
Bugfix: uxrce_dds_client stops publishing data at high inbound topic
rates (e.g. 100 Hz vehicle_visual_odometry) UDP rx buffer overrun
now handled correctly
Test coverage
Reproduced by reporter in issue #27388 confirmed working at 100Hz
after reducing to 10Hz as a workaround. reporter to validate fix on
hardware.
Context
#27388