morkovka1337
commented
10 months ago I've changed a bit cycloneconfig to enable tracing. When I start script, it reports its iceoryx address: Publisher:
1692100063.009583 [0] python3: Current process name for iceoryx is iceoryx_rt_71_1692100063009382776
1692100063.010857 [0] python3: My iceoryx address: 16/[a8:a1:59:71:3e:95:00:00:00:00:00:00:00:00:00:00]:0
Subscriber:
1692100056.575285 [0] python3: Current process name for iceoryx is iceoryx_rt_74_1692100056575087207
1692100056.576568 [0] python3: My iceoryx address: 16/[a8:a1:59:71:3e:95:00:00:00:00:00:00:00:00:00:00]:0
When I interrupt them, iceoryx reports the following:
unified_pipeline_dev-roudi-1 | 2023-08-15 14:48:30.929 [Warning]: Application iceoryx_rt_74_1692100056575087207 not responding (last response 1534 milliseconds ago) --> removing it
unified_pipeline_dev-roudi-1 | 2023-08-15 14:48:31.630 [Warning]: Application iceoryx_rt_71_1692100063009382776 not responding (last response 1502 milliseconds ago) --> removing it
Does it mean that everything works as expected? If yes, why don't I see my processes in ipcs?
eboasson
Splinter1984
Hi,
I'm trying to setup environment and other thins to be able to transfer messages using shared memory. First of all, here is my Image class:
Image class
``` @dataclass class MainCameraImage(IdlStruct): img: array[uint8, 4147200] shape: array[uint64, 3] @classmethod def from_numpy(cls, img): assert len(img.shape) == 3 seq_img = img.tobytes() return MainCameraImage(seq_img, tuple(img.shape)) def to_numpy(self): shape = self.shape return np.frombuffer(self.img, dtype=np.uint8).reshape(shape) ```Note that image array has a fixed size. Then I implement publisher and subscriber:
Publisher
``` import cv2 import time import numpy as np import fire from cyclonedds.core import Listener, Qos, Policy from cyclonedds.util import duration from cyclonedds.internal import dds_infinity from cyclonedds.domain import DomainParticipant from cyclonedds.topic import Topic from cyclonedds.pub import DataWriter from dds_data_structures import MainCameraImage, Image, CameraState,DeviceState def stream(dev=0, resize_to=None, output_topic_names=['camera_images', 'camera_images_vis', 'camera_images_clr'], data_type='MainCameraImage', cap_gstreamer=True): data_type = MainCameraImage participant = DomainParticipant(0) writers = [] # unknown, disabled, enabled, error qos = Qos( # livelines: automatic # deadline: dds_infinity # reliability: reliable # durability: volatile # history: keep last Policy.Liveliness.Automatic(lease_duration=duration(seconds=10)), Policy.Deadline(deadline=dds_infinity), Policy.Reliability.Reliable(max_blocking_time=duration(seconds=1)), Policy.Durability.Volatile, Policy.History.KeepLast(1) ) for topic_name in output_topic_names: topic_out = Topic(participant, topic_name, data_type) writers.append(DataWriter(participant, topic_out, qos)) frame = np.random.randint(0, 256, (1280, 1080, 3), dtype=np.uint8) print(frame.shape, frame.dtype) while True: time_start = time.time() ret, frame = 1, frame if not ret: print('Error: Unable to read frame') break if resize_to is not None: frame = cv2.resize(frame, resize_to[::-1]) for writer in writers: writer.write(data_type.from_numpy(frame)) loop_time = time.time() - time_start print(f'Streaming Camera with topic {output_topic_names[0]}, {loop_time=}', end='\r') if __name__ == '__main__': fire.Fire(stream) ```Subscriber
``` import cv2 import time import numpy as np import fire from cyclonedds.core import Listener, Qos, Policy from cyclonedds.util import duration from cyclonedds.internal import dds_infinity from cyclonedds.domain import DomainParticipant from cyclonedds.topic import Topic from cyclonedds.sub import DataReader from dds_data_structures import MainCameraImage def receive(topic_name='camera_images'): data_type = MainCameraImage participant = DomainParticipant(0) qos = Qos( # livelines: automatic # deadline: dds_infinity # reliability: reliable # durability: volatile # history: keep last Policy.Liveliness.Automatic(lease_duration=duration(seconds=10)), Policy.Deadline(deadline=dds_infinity), Policy.Reliability.Reliable(max_blocking_time=duration(seconds=1)), Policy.Durability.Volatile, Policy.History.KeepLast(1) ) topic_in = Topic(participant, topic_name, data_type) reader = DataReader(participant, topic_in, qos) while True: time_start = time.time() img = reader.read() if len(img) == 0: continue img = img[0].to_numpy() loop_time = time.time() - time_start print(f'Received img {img.shape=}, {loop_time=}', end='\r') if __name__ == '__main__': fire.Fire(receive) ```I've checked the requirements to the QoS for both publisher and subscriber here (as far as I can see they should be identical).
Next step I'm running iceoryx roudi in one docker container with
--net=host --ipc=host -v /dev:/dev -v /tmp:/tmp. I also set the environment variableCYCLONEDDS_URIto the config file. I'm using default config file:CYclonedds uri config
```Finally I run above scripts in the docker containers with the same net and ipc options. They work fine and subscriber receives messages from publisher. What I'm trying to understand:
ipcs -mshows only firefox and vs code processes (I've checked pids via `ps -p