TimeBasedFilter Policy Not Functional

[swhinton]

trafficstars

cyclonedds version = 0.10.3 cyclonedds-python version = 0.10.2

Assuming I understand the use case for the TimeBasedFilter QoS, I have been unable to get the TimeBasedFilter QoS policy to work. I have not experimented with the base C implementation or the C++ binding.

For a sanity check, I altered examples/vehicle, but I uncovered the problem in my specific application.

Expected behavior: subscriber.py prints the topic at approximately 1 Hz. Actual behavior: subscriber.py prints the topic at approximately 10 Hz.

# Removed specific Topic QoS, using default.

domain_participant = DomainParticipant(0)
topic = Topic(domain_participant, 'Vehicle', Vehicle)
publisher = Publisher(domain_participant)
writer = DataWriter(publisher, topic)


vehicle = Vehicle(name="Dallara IL-15", x=200, y=200)


while True:
    vehicle.x += random.choice([-1, 0, 1])
    vehicle.y += random.choice([-1, 0, 1])
    writer.write(vehicle)
    print(">> Wrote vehicle")
    time.sleep(0.1)  # Changed to achieve ~ 10 Hz publish rate

class MyListener(Listener):
    def on_liveliness_changed(self, reader, status):
        print(">> Liveliness event")


listener = MyListener()

# Removed specific Topic QoS, using default.

reader_qos = Qos(
    Policy.TimeBasedFilter(duration(seconds=1))
)

domain_participant = DomainParticipant(0)
topic = Topic(domain_participant, 'Vehicle', Vehicle)
subscriber = Subscriber(domain_participant)
reader = DataReader(domain_participant, topic, reader_qos, listener=listener)


for sample in reader.take_iter(timeout=duration(seconds=2)):
    print(sample, datetime.now())