From c5f85a6a4ef5d9f8cf673a95a837484b3f273bc9 Mon Sep 17 00:00:00 2001 From: Jan Staschulat Date: Tue, 7 Feb 2023 14:56:09 +0100 Subject: [PATCH] updated README Signed-off-by: Jan Staschulat --- rclc_examples/README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/rclc_examples/README.md b/rclc_examples/README.md index 50bc0908..146f0dd4 100644 --- a/rclc_examples/README.md +++ b/rclc_examples/README.md @@ -8,6 +8,7 @@ The rclc_examples package provides examples for using the RCLC-Exector and conve - [example_executor_trigger.c](src/example_executor_trigger.c) demonstrates the trigger condition of the RCLC-Executor. - [example_service_node.c](src/example_service_node.c) implements a service node with the RCLC-Executor. - [example_client_node.c](src/example_client_node.c) implements a client node with RCLC-Executor. +- [example_short_timer_long_subscription.c](src/example_client_node.c) demo with high frequency timer and subscription with long processing time with one executor. The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) @@ -206,3 +207,7 @@ INFO: rcl_wait timeout 10 ms A request message is sent from the client node to the service node and answered. +## Example real-time concurrency slow timer and long subscription +This example demonstrates what happens, if a high frequency timer (every 100ms) and +a subscription with a long processing time is managed by one executor. This demo shows, +that the timer events are dropped during the long processing time of the subscription and are also not caught-up when there would be sufficient time.