topic_status_param.hpp

Go to the documentation of this file.

#pragma once

#include <limits>
#include <type_traits>

#include <diagnostic_updater/update_functions.h>
#include <ros/message_traits.h>

namespace cras
{

struct SimpleTopicStatusParamNoHeader
{
  typedef ::std::remove_pointer_t<decltype(::diagnostic_updater::FrequencyStatusParam::max_freq_)> RateType;

  RateType minRate {0};

  RateType maxRate {::std::numeric_limits<RateType>::infinity()};

  decltype(::diagnostic_updater::FrequencyStatusParam::tolerance_) rateTolerance {0.1};

  decltype(::diagnostic_updater::FrequencyStatusParam::window_size_) rateWindowSize {5};
};

struct SimpleTopicStatusParamWithHeader
{
  typedef ::std::remove_pointer_t<decltype(::diagnostic_updater::FrequencyStatusParam::max_freq_)> RateType;

  RateType minRate {0};

  RateType maxRate {::std::numeric_limits<RateType>::infinity()};

  decltype(::diagnostic_updater::FrequencyStatusParam::tolerance_) rateTolerance {0.1};

  decltype(::diagnostic_updater::FrequencyStatusParam::window_size_) rateWindowSize {5};

  decltype(::diagnostic_updater::TimeStampStatusParam::min_acceptable_) minDelay {-1.0};

  decltype(::diagnostic_updater::TimeStampStatusParam::max_acceptable_) maxDelay {5.0};
};

template <typename Message>
using SimpleTopicStatusParam = ::std::conditional_t<::ros::message_traits::HasHeader<Message>::value,
  ::cras::SimpleTopicStatusParamWithHeader, ::cras::SimpleTopicStatusParamNoHeader>;

struct TopicStatusParams
{
  typedef ::cras::SimpleTopicStatusParamNoHeader NoHeaderParam;
  typedef ::cras::SimpleTopicStatusParamWithHeader HeaderParam;

  static constexpr NoHeaderParam _1Hz {1, 1};
  static constexpr HeaderParam delayed1Hz {1, 1};
  static constexpr HeaderParam fast1Hz {1, 1, 0.1, 5, -1, 0.1};

  static constexpr NoHeaderParam _10Hz {10, 10};
  static constexpr HeaderParam delayed10Hz {10, 10};
  static constexpr HeaderParam fast10Hz {10, 10, 0.1, 5, -1, 0.1};

  static constexpr NoHeaderParam _100Hz {100, 100};
  static constexpr HeaderParam delayed100Hz {100, 100};
  static constexpr HeaderParam fast100Hz {100, 100, 0.1, 5, -1, 0.1};
};

class FrequencyStatusParam : public ::diagnostic_updater::FrequencyStatusParam
{
public:
  FrequencyStatusParam(double *min_freq, double *max_freq, double tolerance = 0.1, int window_size = 5);

  explicit FrequencyStatusParam(
    double min_freq = 0.0, double max_freq = ::std::numeric_limits<double>::infinity(),
    double tolerance = 0.1, int window_size = 5);

  FrequencyStatusParam(const ::cras::FrequencyStatusParam& other);  // NOLINT

  FrequencyStatusParam(const ::diagnostic_updater::FrequencyStatusParam& other);  // NOLINT

  FrequencyStatusParam(const ::cras::SimpleTopicStatusParamNoHeader& params);  // NOLINT

  ::cras::FrequencyStatusParam& operator=(const ::cras::FrequencyStatusParam& other);

  ::cras::FrequencyStatusParam& operator=(const ::diagnostic_updater::FrequencyStatusParam& other);

  double getExpectedRate() const;

private:
  void copyAdditionalData(const ::cras::FrequencyStatusParam& other);

  double minFreq {0.0};

  double maxFreq {::std::numeric_limits<double>::infinity()};

  bool usesInternalPointers {false};
};

class TopicStatusParamWithHeader :
  public ::cras::FrequencyStatusParam, public ::diagnostic_updater::TimeStampStatusParam
{
public:
  TopicStatusParamWithHeader(
    double* min_freq, double* max_freq, double tolerance = 0.1, int window_size = 5,
    double min_acceptable = -1.0, double max_acceptable = 5.0);

  TopicStatusParamWithHeader(  // NOLINT(google-explicit-constructor)
    double min_freq = 0.0, double max_freq = ::std::numeric_limits<double>::infinity(),
    double tolerance = 0.1, int window_size = 5, double min_acceptable = -1.0, double max_acceptable = 5.0);

  explicit TopicStatusParamWithHeader(const ::diagnostic_updater::FrequencyStatusParam& freqParam);

  explicit TopicStatusParamWithHeader(const ::diagnostic_updater::TimeStampStatusParam& stampParam);

  TopicStatusParamWithHeader(
    const ::diagnostic_updater::FrequencyStatusParam& freqParam,
    const ::diagnostic_updater::TimeStampStatusParam& stampParam);

  TopicStatusParamWithHeader(  // NOLINT(google-explicit-constructor)
    const ::cras::SimpleTopicStatusParamWithHeader& params);
};

template <typename Message>
using TopicStatusParam = ::std::conditional_t<::ros::message_traits::HasHeader<Message>::value,
  ::cras::TopicStatusParamWithHeader, ::cras::FrequencyStatusParam>;

}