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Queue size parameter #150

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Queue size parameter #150

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12 changes: 8 additions & 4 deletions src/ros_tcp_endpoint/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ class SysCommands:
def __init__(self, tcp_server):
self.tcp_server = tcp_server

def subscribe(self, topic, message_name):
def subscribe(self, topic, message_name, queue_size=10):
if topic == "":
self.tcp_server.send_unity_error(
"Can't subscribe to a blank topic name! SysCommand.subscribe({}, {})".format(
Expand All @@ -155,10 +155,10 @@ def subscribe(self, topic, message_name):
if old_node is not None:
self.tcp_server.unregister_node(old_node)

new_subscriber = RosSubscriber(topic, message_class, self.tcp_server)
new_subscriber = RosSubscriber(topic, message_class, self.tcp_server, queue_size)
self.tcp_server.subscribers_table[topic] = new_subscriber

self.tcp_server.loginfo("RegisterSubscriber({}, {}) OK".format(topic, message_class))
self.tcp_server.loginfo("RegisterSubscriber({}, {}, queue {}) OK".format(topic, message_class, queue_size))

def publish(self, topic, message_name, queue_size=10, latch=False):
if topic == "":
Expand All @@ -184,7 +184,11 @@ def publish(self, topic, message_name, queue_size=10, latch=False):

self.tcp_server.publishers_table[topic] = new_publisher

self.tcp_server.loginfo("RegisterPublisher({}, {}) OK".format(topic, message_class))
if latch:
latched_text = "latched"
else:
latched_text = "unlatched"
self.tcp_server.loginfo("RegisterPublisher({}, {}, queue {}, {}) OK".format(topic, message_class, queue_size, latched_text))

def ros_service(self, topic, message_name):
if topic == "":
Expand Down
2 changes: 1 addition & 1 deletion src/ros_tcp_endpoint/subscriber.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ def __init__(self, topic, message_class, tcp_server, queue_size=10):
self.queue_size = queue_size

# Start Subscriber listener function
self.sub = rospy.Subscriber(self.topic, self.msg, self.send)
self.sub = rospy.Subscriber(self.topic, self.msg, self.send, queue_size=queue_size)

def send(self, data):
"""
Expand Down