controller_diagnostics.cpp

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#include "pr2_mechanism_diagnostics/controller_diagnostics.h"


using namespace pr2_mechanism_diagnostics;
using namespace std;

// Controller statistics
ControllerStats::ControllerStats(string nam, bool disable_warnings) :
  name(nam),
  timestamp(0),
  running(false),
  num_overruns(0),
  last_overrun_time(0),
  disable_warnings_(disable_warnings)
{ }

bool ControllerStats::update(const pr2_mechanism_msgs::ControllerStatistics &cs)
{
  if (name != cs.name)
  {
    ROS_ERROR("Controller statistics attempted to update with a different name! Old name: %s, new name: %s.", name.c_str(), cs.name.c_str());
    return false;
  }
  
  timestamp     = cs.timestamp;
  running       = cs.running;
  max_time      = cs.max_time;
  mean_time     = cs.mean_time;
  variance_time = cs.variance_time;
  num_overruns  = cs.num_control_loop_overruns;
  last_overrun_time = cs.time_last_control_loop_overrun;
  
  updateTime = ros::Time::now();
  
  return true;
}

boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> ControllerStats::toDiagStat() const
{
  boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> stat(new diagnostic_updater::DiagnosticStatusWrapper);
  
  stat->name = "Controller (" + name + ")";
  
  if (running)
    stat->summary(diagnostic_msgs::DiagnosticStatus::OK, "Running");
  else
    stat->summary(diagnostic_msgs::DiagnosticStatus::OK, "Stopped");
  
  if (!disable_warnings_ && num_overruns > 0)
  {
    if ((ros::Time::now() - last_overrun_time).toSec() < 30)
      stat->summary(diagnostic_msgs::DiagnosticStatus::WARN, "!!! Broke Realtime, used more than 1000 micro seconds in update loop");
    else
      stat->summary(diagnostic_msgs::DiagnosticStatus::OK, "!!! Broke Realtime, used more than 1000 micro seconds in update loop");
  }
  
  stat->add("Avg Update Time (usec)", (int)(mean_time.toSec() * 1e6));
  stat->add("Max Update Time (usec)", (int)(max_time.toSec() * 1e6));
  stat->add("Variance Update Time (usec)", (int) (variance_time.toSec() * 1e6));
  stat->add("Percent of Cycle Time Used", (int) (mean_time.toSec() / 0.00001));
  stat->add("Number of Control Loop Overruns", num_overruns);
  stat->add("Timestamp of Last Overrun (sec)", last_overrun_time.toSec());
  
  return stat;
}