Token bucket rate limiting algorithm. More...
#include <rate_limiter.h>
Inheritance diagram for cras::TokenBucketLimiter:
Public Member Functions | |
| void | reset () override |
| Reset the rate-limiter as if it were newly created with the same parameters. More... | |
| bool | shouldPublish (const ::ros::Time &stamp) override |
| Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped. More... | |
| TokenBucketLimiter (const ::ros::Rate &rate, size_t bucketCapacity=2, double initialTokensAvailable=1.0) | |
| Create the rate-limiter limiting to the desired rate. More... | |
| TokenBucketLimiter (const ::ros::Duration &period, size_t bucketCapacity=2, double initialTokensAvailable=1.0) | |
| Create rate-limiter with rate corresponding to the given period. More... | |
 Public Member Functions inherited from cras::RateLimiter | |
| RateLimiter (const ::ros::Rate &rate) | |
| Create limiter with the given rate. More... | |
| RateLimiter (const ::ros::Duration &period) | |
| Create limiter with rate corresponding to the given period. More... | |
| void | setJumpBackTolerance (const ::ros::Duration &tolerance) |
| Set the limit for telling between small and large backwards time jumps. Small jumps result in ignoring the messages, while a large jump results in a reset of the rate-limter. More... | |
Protected Attributes | |
| size_t | bucketCapacity |
| Number of tokens that can fit into the bucket. This influences the maximum burst size. More... | |
| double | initialTokensAvailable |
| The number of tokens that are initially in the buffer (and after reset). More... | |
| ::ros::Time | lastCheckTime {0, 0} |
| Stamp of the last incoming message. Zero at the beginning. More... | |
| ros::Duration | tokensAvailable |
| The number of currently available tokens. This units of this number are actually not seconds, but Duration is used here to achieve higher decimal point accuracy. More... | |
| Protected Attributes inherited from cras::RateLimiter | |
| ::ros::Duration | jumpBackTolerance {3, 0} |
| Threshold for jump back detection. More... | |
| ::ros::Duration | period |
| The desired period between message (1/rate). More... | |
| ::ros::Rate | rate |
| The desired rate (1/period). More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from cras::RateLimiter | |
| bool | jumpedBack (const ::ros::Time &stamp, const ::ros::Time &previousStamp) const |
| Decide whether the newly coming message should be treated as a backwards jump in time. More... | |
Detailed Description
Token bucket rate limiting algorithm.
- Note
- Generally, it should be quite good at achieving the desired rate.
- The limiter has a bucket of a given capacity. It is refilled over time by a constant number of tokens per second. To publish a message, there has to be at least one token in the bucket. If more tokens should be put in the bucket than is its capacity, they are ignored.
- The bucket capacity basically specifies the size of the burst that can happen after some period of inactivity when tokens are just collected and not consumed.
Definition at line 103 of file rate_limiter.h.
Constructor & Destructor Documentation
◆ TokenBucketLimiter() [1/2]
|
explicit |
Create the rate-limiter limiting to the desired rate.
- Parameters
-
[in] rate Desired rate. [in] bucketCapacity Capacity of the bucket (in tokens). [in] initialTokensAvailable Number of tokens available in the bucket at the beginning. Set to 1 to always let the first packet through. This number should not be higher than bucketCapacity.
◆ TokenBucketLimiter() [2/2]
|
explicit |
Create rate-limiter with rate corresponding to the given period.
- Parameters
-
[in] period Average delay between two desired output messages. [in] bucketCapacity Capacity of the bucket (in tokens). [in] initialTokensAvailable Number of tokens available in the bucket at the beginning. Set to 1 to always let the first packet through. This number should not be higher than bucketCapacity.
Member Function Documentation
◆ reset()
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overridevirtual |
Reset the rate-limiter as if it were newly created with the same parameters.
Implements cras::RateLimiter.
◆ shouldPublish()
|
overridevirtual |
Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped.
- Parameters
-
[in] stamp Time when the message should be sent (usually not header.stamp!).
- Returns
- Whether to continue publishing the message.
Implements cras::RateLimiter.
Member Data Documentation
◆ bucketCapacity
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protected |
Number of tokens that can fit into the bucket. This influences the maximum burst size.
Definition at line 135 of file rate_limiter.h.
◆ initialTokensAvailable
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protected |
The number of tokens that are initially in the buffer (and after reset).
Definition at line 142 of file rate_limiter.h.
◆ lastCheckTime
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protected |
Stamp of the last incoming message. Zero at the beginning.
Definition at line 132 of file rate_limiter.h.
◆ tokensAvailable
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protected |
The number of currently available tokens. This units of this number are actually not seconds, but Duration is used here to achieve higher decimal point accuracy.
Definition at line 139 of file rate_limiter.h.
The documentation for this class was generated from the following file: