duration_status.h

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#pragma once

#include <memory>
#include <mutex>
#include <string>
#include <vector>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <ros/duration.h>
#include <ros/time.h>

#include <cras_cpp_common/diag_utils/duration_status_param.h>
#include <cras_cpp_common/math_utils/running_stats_duration.hpp>
#include <cras_cpp_common/optional.hpp>
#include <cras_cpp_common/param_utils/bound_param_helper.hpp>

namespace cras
{

class DurationStatus : public ::diagnostic_updater::DiagnosticTask
{
public:
  DurationStatus(const ::std::string& name, const ::cras::DurationStatusParam& params);

  explicit DurationStatus(const ::std::string& name,
    const ::ros::Duration& minDuration = {0, 0}, const ::ros::Duration& maxDuration = ::ros::DURATION_MAX,
    double tolerance = 0.1, size_t windowSize = 5u, bool noEventsIsOk = true);

  DurationStatus(const ::std::string& name, const ::cras::SimpleDurationStatusParam& params);

  DurationStatus(const ::std::string& name, const ::cras::BoundParamHelperPtr& params,
                 const ::cras::DurationStatusParam& defaultParams);

  DurationStatus(const ::std::string& name, const ::cras::BoundParamHelperPtr& params,
                 const ::cras::SimpleDurationStatusParam& defaultParams);

  ~DurationStatus() override;

  void start(const ::ros::Time& time = ::ros::Time::now());

  void start(const ::ros::WallTime& time);

  void stop(const ::ros::Time& time = ::ros::Time::now());

  void stop(const ::ros::WallTime& time);

  void run(::diagnostic_updater::DiagnosticStatusWrapper& stat) override;

  const ::ros::Duration& getMinDuration() const;

  const ::ros::Duration& getMaxDuration() const;

  double getTolerance() const;

  size_t getWindowSize() const;

protected:
  ::cras::DurationStatusParam params;

  bool wallTimeMode {false};
  size_t count {0u};
  ::cras::RunningStats<::ros::Duration> stats;
  ::cras::optional<::ros::Time> lastStartTime;
  ::std::vector<::ros::Duration> minDurations;
  ::std::vector<::ros::Duration> maxDurations;
  ::std::vector<::ros::Time> historyTimes;
  ::std::vector<::cras::RunningStats<::ros::Duration>> historyStats;
  size_t historyIndex {0u};
  ::std::mutex lock;
};

using DurationStatusPtr = ::std::shared_ptr<::cras::DurationStatus>;

}