API review

Proposer: Stuart Glaser

There are several pages to look at:

• http://wiki/bond - Overview

• http://wiki/bondcpp - C++ implementation

• http://wiki/bondpy - Python implementation

Present at review:

• List reviewers

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Tully

• I feel that this should be like actionlib with a ROS API defined and example implementations in python and c++

  • That's the plan. I haven't documented the internals for the API review, but I expect bonds to be implemented in other languages

• The timeouts are not exposed or documented. (What sort of expected frequency update/max delay for breaking etc)

  • Ok. How about exposing the timeouts through setter methods (to be called before start())?

• Are there nice(aka clean shutdown messages) ways to break a bond vs timeouts?

  • Yes. Calling break_bond() breaks the bond cleanly and quickly.

• How much overhead do they use? bandwidth, computation, threads

  • Insignificant computation. One thread in Python, but C++ uses a ROS timer. The bandwidth is a small heartbeat message at approx 1 Hz. It's been built to be extremely lightweight.

Eitan

• I think I'm OK with the API. I'm interested in resource management ideas and discussing the tradeoff between using something like a bond vs something like an action, but that's not really for this review.

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

• Fix examples to match the API
• Jeremy doesn't like constructor to take a boolean as to whether you're the server or client. Prefers a client or server constructor.
• What if we just put in another unique id?
• Could have a startServer() startClient()
• The boolean means that the user could screw it up. Need to hide it or expose it completely.
• Solution: Unique id per bond instance to mark messages as your own.
• What if the timeouts don't match on the two sides? Could put the timeouts into the message itself.
• Include the timeouts in the bond status message, just for debugging purposes?
• Autonegotiating is too difficult, but with this information we can warn.
• Also gives someone else room to write the autonegotiation version.
• Naming the message's bool "alive" seems silly. Wim suggests "dying", "active". Because you shouldn't be sending messages if you are "Dead"
• Using a ROS timer could be an issue. If ROS isn't servicing its timers, it won't be publishing its messages. Maybe let the user specify a callback queue?
• Select a bond topic based on the id (inside a bond namespace) "/bond/id"
• Let ROS deal with collapsing huge numbers of topic.
• Discussion about remapping the bond topic.
• Take bond out of the global namespace?
• This would allow us to support bonds with IDs that are not unique.
• Tully: the bond id should be a globally-unique ROS name
• If we have a unique instance id, we can detect when too many things have the same bond id.
• Bond id is still unreadable. Difficult to debug
• Suggestion of a channel string and a bond id

BondID = string

BondID: string channel # Also the suggested topic to use for the bond string uuid # Only thing sent in the Bond Status message

• Error on empty channel
• Topic is helpful for finding the bond for a particular thing.
• The token that refers to a unique bond is the tuple (string topic, string uuid)
• topic cannot be blank
• Suggested to have "bond" in the topic name

Resulting Actions

• Add an instance id to differentiate between the two sides

• Change "alive" to "active" in the status message

• Add setXxxTimeout calls

• Change bond token to be (topic, bond id)

  • Construct Bond objects using the topic

  • Use a topic which is topic/bond_id as the status topic

• () Place timeouts in the status message so we can match them up for debugging
• () Fix the examples to match the API
• Fix up comments:
  • Bond now takes topic,id

Conclusion

Package status change mark change manifest)

• Action items that need to be taken.

• Major issues that need to be resolved

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