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print async thread pinned cores #551

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print async thread pinned cores #551

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83f39a0
print async thread pinned cores
Nibanovic Jul 20, 2026
fc269b0
use fmt to format CPU cores list
Nibanovic Jul 27, 2026
cc62adf
Merge branch 'master' into minor/print-async-thread-pinned-cores
destogl Jul 29, 2026
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10 changes: 9 additions & 1 deletion realtime_tools/include/realtime_tools/async_function_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -568,9 +568,17 @@ class AsyncFunctionHandler
params_.logger, !affinity_result.first,
"Could not set CPU affinity for the async worker thread. Error: %s",
affinity_result.second.c_str());

std::string cores_list_print = "[";
for (size_t i = 0; i < params_.cpu_affinity_cores.size(); ++i) {
cores_list_print += std::to_string(params_.cpu_affinity_cores[i]) +
(i < params_.cpu_affinity_cores.size() - 1 ? ", " : "");
}
cores_list_print += "]";

RCLCPP_WARN_EXPRESSION(
params_.logger, affinity_result.first,
"Async worker thread is successfully pinned to the requested CPU cores!");
"Async worker thread successfully pinned to Cores: %s", cores_list_print.c_str());
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}
if (!params_.thread_name.empty()) {
const auto rename_result = realtime_tools::set_current_thread_name(params_.thread_name);
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