#include <Rate.hpp>

Public Member Functions
double	getAwakeTime () const

double	getAwakeTimeMean () const

double	getAwakeTimeStdDev () const

double	getAwakeTimeVar () const

unsigned int	getNumErrors () const

unsigned int	getNumTimeSteps () const

unsigned int	getNumWarnings () const

RateOptions &	getOptions ()

const RateOptions &	getOptions () const

const timespec &	getSleepEndTime () const

const timespec &	getSleepStartTime () const

const timespec &	getStepTime () const

	Rate (const std::string &name, const double timeStep)

	Rate (RateOptions options)

	Rate (Rate &&other) noexcept

void	reset ()

void	sleep ()

Static Public Member Functions
static void	addDuration (timespec &time, const double duration)

static double	getDuration (const timespec &start, const timespec &end)

Protected Attributes
double	awakeTime_ = 0.0
	Most recent time which elapsed between subsequent calls of sleep(). More...

double	awakeTimeM2_ = 0.0
	Helper variable to compute the variance of the time step which elapsed between subsequent calls of sleep(). More...

double	awakeTimeMean_ = 0.0
	Mean of the time which elapsed between subsequent calls of sleep(). More...

timespec	lastErrorPrintTime_ {}
	Point in time when the last error message was printed. More...

timespec	lastWarningPrintTime_ {}
	Point in time when the last warning message was printed. More...

unsigned int	numErrors_ = 0
	Counter storing how many times a time step took longer than the error threshold, not considering warnings. More...

unsigned int	numTimeSteps_ = 0
	Counter storing how many times sleep has been called. More...

unsigned int	numWarnings_ = 0
	Counter storing how many times a time step took longer than the warning threshold. More...

RateOptions	options_ {}
	Rate options. More...

timespec	sleepEndTime_ {}
	Point in time when the most recent sleep() ended. More...

timespec	sleepStartTime_ {}
	Point in time when the most recent sleep() started. More...

timespec	stepTime_ {}

Static Protected Attributes
static constexpr long int	N_SEC_PER_SEC = static_cast<long int>(1e9)
	Factor storing nanoseconds per seconds. More...

static constexpr double	SEC_PER_N_SEC = 1.0 / N_SEC_PER_SEC
	Factor storing seconds per nanoseconds. More...

Detailed Description

Rate class for repeated processing at a certain rate. The processing time is defined as the "awake" time, the time between the "sleep" time. This class implements a sleep() method for sleeping for the remaining time of the time step. Also statistics about the awake time are taken.

If the awake time is bigger than the time step (timing is violated), there are two behaviors implemented:

Enforce the rate: Try to keep the rate constant by compensating with shorter time steps. | | | | | | | |===—>|===—>|============|===|===–>|===—>| | | | | | | |

Do not enforce the rate: Try to keep the single time step constant. | | | | | | | |===—>|===—>|============|===—>|===—>|===—>| | | | | | | |

Legend: | Step time === Awake time –> Sleep time

The time step, the time step thresholds for warnings and errors and the setting to enforce the rate can be changed during run-time of this class.

Definition at line 79 of file Rate.hpp.

Constructor & Destructor Documentation

bota_worker::Rate::Rate	(	const std::string &	name,
		const double	timeStep
	)

Simple constructor. Starts the clock. Call reset() to restart it if you do not intend to call sleep() immediately.

Parameters

name	Name for printing.
timeStep	Time step in seconds.

Definition at line 48 of file Rate.cpp.

bota_worker::Rate::Rate ( RateOptions options )

explicit

Advanced constructor. Starts the clock. Call reset() to restart it if you do not intend to call sleep() immediately.

Parameters

options Rate options.

Definition at line 52 of file Rate.cpp.

bota_worker::Rate::Rate ( Rate && other )

noexcept

Move constructor.

Parameters

other Rate to move.

Definition at line 57 of file Rate.cpp.

Member Function Documentation

void bota_worker::Rate::addDuration	(	timespec &	time,
		const double	duration
	)

static

Add a duration to a time point.

Parameters

time	Time point.
duration	Duration to add in seconds.

Definition at line 219 of file Rate.cpp.

double bota_worker::Rate::getAwakeTime ( ) const

Get the most recent time which elapsed between subsequent calls of sleep().

Returns: Elapsed time in seconds.

Definition at line 173 of file Rate.cpp.

double bota_worker::Rate::getAwakeTimeMean ( ) const

Get the mean of the time which elapsed between subsequent calls of sleep().

Returns: Mean in seconds.

Definition at line 185 of file Rate.cpp.

double bota_worker::Rate::getAwakeTimeStdDev ( ) const

Get the standard deviation of the time which elapsed between subsequent calls of sleep().

Returns: Standard deviation in seconds.

Definition at line 209 of file Rate.cpp.

double bota_worker::Rate::getAwakeTimeVar ( ) const

Get the variance of the time which elapsed between subsequent calls of sleep().

Returns: Variance in seconds^2.

Definition at line 197 of file Rate.cpp.

double bota_worker::Rate::getDuration	(	const timespec &	start,
		const timespec &	end
	)

static

Get the duration between start and end time points.

Parameters

start	Start time point.
end	End time point.

Returns: Duration in seconds.

Definition at line 214 of file Rate.cpp.

unsigned int bota_worker::Rate::getNumErrors ( ) const

inline

Get the number of errors, not considering warnings.

Returns: Number of errors, not considering warnings.

Definition at line 213 of file Rate.hpp.

unsigned int bota_worker::Rate::getNumTimeSteps ( ) const

inline

Get the number of time steps.

Returns: Number of time steps.

Definition at line 195 of file Rate.hpp.

unsigned int bota_worker::Rate::getNumWarnings ( ) const

inline

Get the number of warnings.

Returns: Number of warnings.

Definition at line 204 of file Rate.hpp.

RateOptions& bota_worker::Rate::getOptions ( )

inline

Get the rate options by reference.

Returns: Rate options by reference.

Definition at line 140 of file Rate.hpp.

const RateOptions& bota_worker::Rate::getOptions ( ) const

inline

Get the rate options by constant reference.

Returns: Rate options by constant reference.

Definition at line 149 of file Rate.hpp.

const timespec& bota_worker::Rate::getSleepEndTime ( ) const

inline

Get the time when the most recent sleep() was supposed to end.

Returns: Time when the most recent sleep() was supposed to end.

Definition at line 177 of file Rate.hpp.

const timespec& bota_worker::Rate::getSleepStartTime ( ) const

inline

Get the time when the most recent sleep() started.

Returns: Time when the most recent sleep() started.

Definition at line 168 of file Rate.hpp.

const timespec& bota_worker::Rate::getStepTime ( ) const

inline

Get the time when the most recent step should have started.

Returns: Time when the most recent step should have started.

Definition at line 186 of file Rate.hpp.

void bota_worker::Rate::reset ( )

Reset the internal memory and restart the step time.

Definition at line 74 of file Rate.cpp.

void bota_worker::Rate::sleep ( )

Sleep for the rest of the time step.

Definition at line 96 of file Rate.cpp.

Member Data Documentation

double bota_worker::Rate::awakeTime_ = 0.0

protected

Most recent time which elapsed between subsequent calls of sleep().

Definition at line 108 of file Rate.hpp.

double bota_worker::Rate::awakeTimeM2_ = 0.0

protected

Helper variable to compute the variance of the time step which elapsed between subsequent calls of sleep().

Definition at line 112 of file Rate.hpp.

double bota_worker::Rate::awakeTimeMean_ = 0.0

protected

Mean of the time which elapsed between subsequent calls of sleep().

Definition at line 110 of file Rate.hpp.

timespec bota_worker::Rate::lastErrorPrintTime_ {}

protected

Point in time when the last error message was printed.

Definition at line 106 of file Rate.hpp.

timespec bota_worker::Rate::lastWarningPrintTime_ {}

protected

Point in time when the last warning message was printed.

Definition at line 104 of file Rate.hpp.

constexpr long int bota_worker::Rate::N_SEC_PER_SEC = static_cast<long int>(1e9)

staticprotected

Factor storing nanoseconds per seconds.

Definition at line 83 of file Rate.hpp.

unsigned int bota_worker::Rate::numErrors_ = 0

protected

Counter storing how many times a time step took longer than the error threshold, not considering warnings.

Definition at line 102 of file Rate.hpp.

unsigned int bota_worker::Rate::numTimeSteps_ = 0

protected

Counter storing how many times sleep has been called.

Definition at line 98 of file Rate.hpp.

unsigned int bota_worker::Rate::numWarnings_ = 0

protected

Counter storing how many times a time step took longer than the warning threshold.

Definition at line 100 of file Rate.hpp.

RateOptions bota_worker::Rate::options_ {}

protected

Rate options.

Definition at line 88 of file Rate.hpp.

constexpr double bota_worker::Rate::SEC_PER_N_SEC = 1.0 / N_SEC_PER_SEC

staticprotected

Factor storing seconds per nanoseconds.

Definition at line 85 of file Rate.hpp.

timespec bota_worker::Rate::sleepEndTime_ {}

protected

Point in time when the most recent sleep() ended.

Definition at line 93 of file Rate.hpp.

timespec bota_worker::Rate::sleepStartTime_ {}

protected

Point in time when the most recent sleep() started.

Definition at line 91 of file Rate.hpp.

timespec bota_worker::Rate::stepTime_ {}

protected

Point in time when the most recent step should have started. If the timing is fine, the step time is equal to the sleep end time.

Definition at line 96 of file Rate.hpp.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation