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include
ros
statistics.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2013-2014, Dariush Forouher
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the names of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ROSCPP_STATISTICS_H
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#define ROSCPP_STATISTICS_H
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#include "
forwards.h
"
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#include "
poll_set.h
"
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#include "common.h"
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#include "
publisher.h
"
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#include <
ros/time.h
>
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#include "
ros/subscription_callback_helper.h
"
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#include <map>
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namespace
ros
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{
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class
ROSCPP_DECL
StatisticsLogger
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{
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public
:
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StatisticsLogger
();
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void
init
(
const
SubscriptionCallbackHelperPtr
& helper);
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void
callback(
const
boost::shared_ptr<M_string>
& connection_header,
const
std::string& topic,
const
std::string& callerid,
const
SerializedMessage
& m,
const
uint64_t& bytes_sent,
const
ros::Time
& received_time,
bool
dropped);
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private
:
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// these are hard constrains
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int
max_window
;
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int
min_window
;
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// these are soft constrains
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int
max_elements
;
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int
min_elements
;
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bool
enable_statistics
;
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// remember, if this message type has a header
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bool
hasHeader_
;
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// frequency to publish statistics
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double
pub_frequency_
;
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// publisher for statistics data
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ros::Publisher
pub_
;
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struct
StatData
{
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// last time, we published /statistics data
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ros::Time
last_publish
;
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// arrival times of all messages within the current window
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std::list<ros::Time>
arrival_time_list
;
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// age of all messages within the current window (if available)
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std::list<ros::Duration>
age_list
;
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// number of dropped messages
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uint64_t
dropped_msgs
;
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// latest sequence number observered (if available)
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uint64_t
last_seq
;
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// latest total traffic volume observed
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uint64_t
stat_bytes_last
;
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};
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// storage for statistics data
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std::map<std::string, struct StatData>
map_
;
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};
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}
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#endif
ros::StatisticsLogger::StatData::last_seq
uint64_t last_seq
Definition:
statistics.h:99
ros::StatisticsLogger::min_elements
int min_elements
Definition:
statistics.h:76
ros::StatisticsLogger::pub_frequency_
double pub_frequency_
Definition:
statistics.h:84
ros::StatisticsLogger::StatData::arrival_time_list
std::list< ros::Time > arrival_time_list
Definition:
statistics.h:93
ros::StatisticsLogger::min_window
int min_window
Definition:
statistics.h:72
time.h
ros::Time
ros::StatisticsLogger::StatData
Definition:
statistics.h:89
ros::StatisticsLogger::StatData::last_publish
ros::Time last_publish
Definition:
statistics.h:91
ros::StatisticsLogger::hasHeader_
bool hasHeader_
Definition:
statistics.h:81
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROS initialization function.
Definition:
init.cpp:470
forwards.h
subscription_callback_helper.h
ros::StatisticsLogger::max_window
int max_window
Definition:
statistics.h:71
poll_set.h
boost::shared_ptr< SubscriptionCallbackHelper >
ros::StatisticsLogger::map_
std::map< std::string, struct StatData > map_
Definition:
statistics.h:105
ros::SerializedMessage
ros::StatisticsLogger::enable_statistics
bool enable_statistics
Definition:
statistics.h:78
ros::StatisticsLogger::max_elements
int max_elements
Definition:
statistics.h:75
ros
ros::Publisher
Manages an advertisement on a specific topic.
Definition:
publisher.h:47
ros::StatisticsLogger::pub_
ros::Publisher pub_
Definition:
statistics.h:87
ros::StatisticsLogger
This class logs statistics data about a ROS connection and publishs them periodically on a common top...
Definition:
statistics.h:49
ros::StatisticsLogger::StatData::age_list
std::list< ros::Duration > age_list
Definition:
statistics.h:95
publisher.h
ros::StatisticsLogger::StatData::stat_bytes_last
uint64_t stat_bytes_last
Definition:
statistics.h:101
ros::StatisticsLogger::StatData::dropped_msgs
uint64_t dropped_msgs
Definition:
statistics.h:97
roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Sun Feb 3 2019 03:29:54