service_server_statistics.h

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#ifndef SWRI_ROSCPP_SERVICE_SERVER_STATISTICS_H_
#define SWRI_ROSCPP_SERVICE_SERVER_STATISTICS_H_

#include <ros/time.h>

namespace swri
{
class ServiceServerImpl;
class ServiceServerStatistics
{
  int servings_;
  int succeeded_;
  int failed_;
  bool last_failed_;

  ros::WallDuration total_time_;
  ros::WallDuration min_time_;
  ros::WallDuration max_time_;

  void merge(bool success, const ros::WallDuration &runtime);
  friend class ServiceServerImpl;

 public:
  ServiceServerStatistics() { reset(); }
  void reset();

  int servings() const { return servings_; }
  int succeeded() const { return succeeded_; }
  int failed() const { return failed_; }
  bool lastFailed() const { return last_failed_; }

  ros::WallDuration meanTime() const;
  ros::WallDuration minTime() const { return min_time_; }
  ros::WallDuration maxTime() const { return max_time_; }
};  // struct ServiceServerStatistics


inline
void ServiceServerStatistics::reset()
{
  servings_ = 0;
  succeeded_ = 0;
  failed_ = 0;
  last_failed_ = false;
  total_time_ = ros::WallDuration(0);
  min_time_ = ros::WallDuration(0);
  max_time_ = ros::WallDuration(0);
}

inline
ros::WallDuration ServiceServerStatistics::meanTime() const
{
  if (servings_ == 0) {
    return ros::WallDuration(0);
  } else {
    return ros::WallDuration(total_time_.toSec() / servings_);
  }
}

inline
void ServiceServerStatistics::merge(
  bool success, const ros::WallDuration &runtime)
{
  servings_++;
  if (success) {
    succeeded_++;
    last_failed_ = false;
  } else {
    failed_++;
    last_failed_ = true;
  }

  if (servings_ == 1) {
    total_time_ = runtime;
    min_time_ = runtime;
    max_time_ = runtime;
  } else {
    total_time_ += runtime;
    min_time_ = std::min(min_time_, runtime);
    max_time_ = std::max(max_time_, runtime);
  }
}
}  // namespace swri
#endif  // SWRI_ROSCPP_SERVICE_SERVER_STATISTICS_H_