feat: Added new statistics interface / removed statistics publisher

rclcpp/CMakeLists.txt

@@ -8,7 +8,6 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(ament_cmake_ros_core REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_logging_interface REQUIRED)
@@ -22,7 +21,6 @@ find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
-find_package(statistics_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -200,7 +198,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
   builtin_interfaces::builtin_interfaces
-  libstatistics_collector::libstatistics_collector
   rcl::rcl
   rcl_interfaces::rcl_interfaces
   rcl_yaml_param_parser::rcl_yaml_param_parser
@@ -212,7 +209,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   rosidl_runtime_c::rosidl_runtime_c
   rosidl_runtime_cpp::rosidl_runtime_cpp
   rosidl_typesupport_cpp::rosidl_typesupport_cpp
-  statistics_msgs::statistics_msgs
   tracetools::tracetools
   ${CMAKE_THREAD_LIBS_INIT}
   # Note we link public on purpose, as we want to export
@@ -246,7 +242,6 @@ ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(
   builtin_interfaces
-  libstatistics_collector
   rcl
   rcl_interfaces
   rcl_yaml_param_parser
@@ -258,7 +253,6 @@ ament_export_dependencies(
   rosidl_runtime_c
   rosidl_runtime_cpp
   rosidl_typesupport_cpp
-  statistics_msgs
   tracetools
 )
 

rclcpp/QUALITY_DECLARATION.md

@@ -195,12 +195,6 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://github
 
 It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/rolling/rmw/QUALITY_DECLARATION.md).
 
-#### `statistics_msgs`
-
-The `statistics_msgs` package contains ROS 2 message definitions for reporting statistics for topics and system resources.
-
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/rolling/statistics_msgs/QUALITY_DECLARATION.md).
-
 #### `tracetools`
 
 The `tracetools` package provides utilities for instrumenting the code in `rclcpp` so that it may be traced for debugging and performance analysis.

rclcpp/include/rclcpp/create_subscription.hpp

@@ -22,19 +22,14 @@
 #include <string>
 #include <utility>
 
-#include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
-
-#include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
+#include "rclcpp/detail/qos_parameters.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
-#include "rclcpp/create_publisher.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
 #include "rclcpp/subscription_options.hpp"
-#include "rclcpp/timer.hpp"
-#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
@@ -69,59 +64,11 @@ create_subscription(
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics_interface = get_node_topics_interface(node_topics);
 
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>
-  subscription_topic_stats = nullptr;
-
-  if (rclcpp::detail::resolve_enable_topic_statistics(
-      options,
-      *node_topics_interface->get_node_base_interface()))
-  {
-    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
-      throw std::invalid_argument(
-              "topic_stats_options.publish_period must be greater than 0, specified value of " +
-              std::to_string(options.topic_stats_options.publish_period.count()) + " ms");
-    }
-
-    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
-    publisher = rclcpp::detail::create_publisher<statistics_msgs::msg::MetricsMessage>(
-      node_parameters,
-      node_topics_interface,
-      options.topic_stats_options.publish_topic,
-      options.topic_stats_options.qos);
-
-    subscription_topic_stats =
-      std::make_shared<rclcpp::topic_statistics::SubscriptionTopicStatistics>(
-      node_topics_interface->get_node_base_interface()->get_name(), publisher);
-
-    std::weak_ptr<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics
-    > weak_subscription_topic_stats(subscription_topic_stats);
-    auto sub_call_back = [weak_subscription_topic_stats]() {
-        auto subscription_topic_stats = weak_subscription_topic_stats.lock();
-        if (subscription_topic_stats) {
-          subscription_topic_stats->publish_message_and_reset_measurements();
-        }
-      };
-
-    auto node_timer_interface = node_topics_interface->get_node_timers_interface();
-
-    auto timer = create_wall_timer(
-      std::chrono::duration_cast<std::chrono::nanoseconds>(
-        options.topic_stats_options.publish_period),
-      sub_call_back,
-      options.callback_group,
-      node_topics_interface->get_node_base_interface(),
-      node_timer_interface
-    );
-
-    subscription_topic_stats->set_publisher_timer(timer);
-  }
-
   auto factory = rclcpp::create_subscription_factory<MessageT>(
     std::forward<CallbackT>(callback),
     options,
     msg_mem_strat,
-    subscription_topic_stats
+    options.subscription_statistics_monitor
   );
 
   const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
@@ -161,8 +108,7 @@ create_subscription(
  * \param options
  * \param msg_mem_strat
  * \return the created subscription
- * \throws std::invalid_argument if topic statistics is enabled and the publish period is
- * less than or equal to zero.
+ * \throws std::invalid_argument if the QoS is incompatible with intra-process.
  */
 template<
   typename MessageT,

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -18,7 +18,6 @@
 #include <rmw/types.h>
 
 #include <chrono>
-#include <functional>
 #include <memory>
 #include <stdexcept>
 #include <string>
@@ -33,7 +32,7 @@
 #include "rclcpp/experimental/subscription_intra_process_buffer.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/time.hpp"
+#include "rclcpp/subscription_statistics_monitor.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "tracetools/tracetools.h"
 
@@ -74,7 +73,8 @@ class SubscriptionIntraProcess
   using ConstMessageSharedPtr = typename SubscriptionIntraProcessBufferT::ConstDataSharedPtr;
   using MessageUniquePtr = typename SubscriptionIntraProcessBufferT::SubscribedTypeUniquePtr;
   using BufferUniquePtr = typename SubscriptionIntraProcessBufferT::BufferUniquePtr;
-  using StatsHandlerFn = std::function<void(const rmw_message_info_t &, const rclcpp::Time &)>;
+  using SubscriptionStatisticsMonitorSharedPtr =
+    rclcpp::SubscriptionStatisticsMonitor::SharedPtr;
 
   SubscriptionIntraProcess(
     AnySubscriptionCallback<MessageT, Alloc> callback,
@@ -83,7 +83,7 @@ class SubscriptionIntraProcess
     const std::string & topic_name,
     const rclcpp::QoS & qos_profile,
     rclcpp::IntraProcessBufferType buffer_type,
-    StatsHandlerFn stats_handler = nullptr)
+    SubscriptionStatisticsMonitorSharedPtr monitor = nullptr)
   : SubscriptionIntraProcessBuffer<SubscribedType, SubscribedTypeAlloc,
       SubscribedTypeDeleter, ROSMessageType>(
       std::make_shared<SubscribedTypeAlloc>(*allocator),
@@ -92,7 +92,7 @@ class SubscriptionIntraProcess
       qos_profile,
       buffer_type),
     any_callback_(callback),
-    stats_handler_(std::move(stats_handler))
+    monitor_(std::move(monitor))
   {
     TRACETOOLS_TRACEPOINT(
       rclcpp_subscription_callback_added,
@@ -206,14 +206,15 @@ class SubscriptionIntraProcess
 
     const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(
       std::chrono::system_clock::now());
-    if (stats_handler_) {
+    if (monitor_) {
       RCLCPP_WARN_ONCE(
         rclcpp::get_logger("rclcpp"),
         "Intra-process communication does not support accurate message age statistics");
       // Set source_timestamp to "now" so that message_age reports 0ms rather than
       // an invalid value taken from an un-initialised timestamp. IPC delivery
       // has little/no transport latency by definition, so near-zero age is expected.
       msg_info.source_timestamp = nanos.time_since_epoch().count();
+      monitor_->before_message_dispatch(msg_info);
     }
 
     auto shared_ptr = std::static_pointer_cast<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
@@ -228,13 +229,13 @@ class SubscriptionIntraProcess
     }
     shared_ptr.reset();
 
-    if (stats_handler_) {
-      stats_handler_(msg_info, rclcpp::Time(nanos.time_since_epoch().count()));
+    if (monitor_) {
+      monitor_->after_message_dispatch(msg_info);
     }
   }
 
   AnySubscriptionCallback<MessageT, Alloc> any_callback_;
-  StatsHandlerFn stats_handler_;
+  SubscriptionStatisticsMonitorSharedPtr monitor_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/node_impl.hpp

@@ -43,7 +43,6 @@
 #include "rclcpp/create_generic_service.hpp"
 #include "rclcpp/create_subscription.hpp"
 #include "rclcpp/create_timer.hpp"
-#include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/timer.hpp"

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -53,7 +53,6 @@ class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<N
     rclcpp::Context::SharedPtr context,
     const rcl_node_options_t & rcl_node_options,
     bool use_intra_process_default,
-    bool enable_topic_statistics_default,
     rclcpp::CallbackGroup::SharedPtr default_callback_group = nullptr);
 
   RCLCPP_PUBLIC
@@ -133,9 +132,6 @@ class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<N
   bool
   get_use_intra_process_default() const override;
 
-  bool
-  get_enable_topic_statistics_default() const override;
-
   std::string
   resolve_topic_or_service_name(
     const std::string & name, bool is_service, bool only_expand = false) const override;
@@ -145,7 +141,6 @@ class NodeBase : public NodeBaseInterface, public std::enable_shared_from_this<N
 
   rclcpp::Context::SharedPtr context_;
   bool use_intra_process_default_;
-  bool enable_topic_statistics_default_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -170,12 +170,6 @@ class NodeBaseInterface
   bool
   get_use_intra_process_default() const = 0;
 
-  /// Return the default preference for enabling topic statistics collection.
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  get_enable_topic_statistics_default() const = 0;
-
   /// Expand and remap a given topic or service name.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_options.hpp

@@ -46,7 +46,6 @@ class NodeOptions
    *   - use_global_arguments = true
    *   - enable_rosout = true
    *   - use_intra_process_comms = false
-   *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
    *   - clock_type = RCL_ROS_TIME
@@ -208,23 +207,6 @@ class NodeOptions
   NodeOptions &
   use_intra_process_comms(bool use_intra_process_comms);
 
-  /// Return the enable_topic_statistics flag.
-  RCLCPP_PUBLIC
-  bool
-  enable_topic_statistics() const;
-
-  /// Set the enable_topic_statistics flag, return this for parameter idiom.
-  /**
-   * If true, topic statistics collection and publication will be enabled
-   * for all subscriptions.
-   * This can be used to override the global topic statistics setting.
-   *
-   * Defaults to false.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  enable_topic_statistics(bool enable_topic_statistics);
-
   /// Return the start_parameter_services flag.
   RCLCPP_PUBLIC
   bool
@@ -455,8 +437,6 @@ class NodeOptions
 
   bool use_intra_process_comms_ {false};
 
-  bool enable_topic_statistics_ {false};
-
   bool start_parameter_services_ {true};
 
   bool start_parameter_event_publisher_ {true};