ecl::FrequencyMonitor Class Reference

Lightweight and fast frequency monitor. More...

#include <frequency.hpp>

Public Member Functions
const FrequencyDiagnostics &	analyse ()
	Analyse the recent updates to generate monitoring statistics. More...
const FrequencyDiagnostics &	diagnostics () const
	Diagnostics getter function. More...
	FrequencyMonitor (const float &window_period=2.0, const bool &use_realtime_clock=false)
	Setup the frequency monitor. More...
void	update ()
	Let the diagnostics know that new data has arrived. More...

Protected Attributes
FrequencyDiagnostics	current_diagnostics
unsigned int	incoming_counter
ecl::TimeStamp	last_anyalsed
ecl::TimeStamp	last_incoming
ecl::TimeStamp	maximum_interval
ecl::TimeStamp	minimum_interval
ecl::TimeStamp	period
bool	use_realtime_clock

Detailed Description

Lightweight and fast frequency monitor.

This class doesn't dynamically update over a window, nor does it collect and store data to compute characteristics like standard deviations. It is however, suitable for most use case scenarios where you are simply interested in the hz/minimum_interval/maximum_interval of data over a fixed period.

Usage:

float window_period = 2.0;
FrequencyMonitor monitor(window_period, false);
FrequencyMonitor ros_monitor(window_period, true);  // use the realtime clock to match ros timestamps
FrequencyDiagnostics diagnostics;
 
void incomingDataCallback() {
  monitor.update();  // register that new data has arrived
}
 
void process() {
  diagnostics = monitor.analyse();
}
 
void process2() {
  monitor.analyse();
  diagnostics = monitor.getDiagnostics();
}

Definition at line 89 of file frequency.hpp.

Constructor & Destructor Documentation

FrequencyMonitor()

ecl::FrequencyMonitor::FrequencyMonitor	(	const float &	window_period = 2.0,
		const bool &	use_realtime_clock = false
	)

Setup the frequency monitor.

Parameters

window_period	: time interval over which updates are analysed.
use_realtime_clock	: better to use the monotonic clock, but sometimes (e.g. ros), realtime is required.

Definition at line 24 of file lib/frequency.cpp.

Member Function Documentation

analyse()

const FrequencyDiagnostics & ecl::FrequencyMonitor::analyse

(

)

Analyse the recent updates to generate monitoring statistics.

Right now this just uses a fixed window (not moving) that only updates the information if the period since the last analyse() request was made has been exceeded.

every two seconds, we update the status as follows

Definition at line 61 of file lib/frequency.cpp.

diagnostics()

const FrequencyDiagnostics& ecl::FrequencyMonitor::diagnostics ( ) const

inline

Diagnostics getter function.

Returns

FrequencyDiagnostics

Definition at line 119 of file frequency.hpp.

update()

void ecl::FrequencyMonitor::update

(

)

Let the diagnostics know that new data has arrived.

This updates the internal counter, with a timestamp.

Definition at line 43 of file lib/frequency.cpp.

Member Data Documentation

current_diagnostics

FrequencyDiagnostics ecl::FrequencyMonitor::current_diagnostics

protected

Definition at line 119 of file frequency.hpp.

incoming_counter

unsigned int ecl::FrequencyMonitor::incoming_counter

protected

Definition at line 123 of file frequency.hpp.

last_anyalsed

ecl::TimeStamp ecl::FrequencyMonitor::last_anyalsed

protected

Definition at line 124 of file frequency.hpp.

last_incoming

ecl::TimeStamp ecl::FrequencyMonitor::last_incoming

protected

Definition at line 129 of file frequency.hpp.

maximum_interval

ecl::TimeStamp ecl::FrequencyMonitor::maximum_interval

protected

Definition at line 127 of file frequency.hpp.

minimum_interval

ecl::TimeStamp ecl::FrequencyMonitor::minimum_interval

protected

Definition at line 126 of file frequency.hpp.

period

ecl::TimeStamp ecl::FrequencyMonitor::period

protected

Definition at line 125 of file frequency.hpp.

use_realtime_clock

bool ecl::FrequencyMonitor::use_realtime_clock

protected

Definition at line 128 of file frequency.hpp.

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The documentation for this class was generated from the following files:

• frequency.hpp
• lib/frequency.cpp