cras::DiagnosedPubSub< Message, Enable > Class Template Reference

Base for ROS publisher and subscriber with automatic message rate and delay diagnostics. More...

#include <diagnosed_pub_sub.hpp>

Public Member Functions
virtual void	attach (::diagnostic_updater::Updater &updater)
	Add the diagnostic task to the given updater. More...
	DiagnosedPubSub (const ::cras::BoundParamHelperPtr &params)
	Configure the diagnostic task from the given ROS parameter helper. More...
	DiagnosedPubSub (const ::cras::BoundParamHelperPtr &params, const ::cras::SimpleTopicStatusParam< Message > &defaultParams)
	Configure the diagnostic task from the given ROS parameter helper. More...
	DiagnosedPubSub (const ::std::shared_ptr<::cras::TopicStatus< Message >> &diag)
	Use the given diagnostic task to diagnose the publisher/subscriber. More...
	DiagnosedPubSub (const ::std::string &name, const ::cras::TopicStatusParam< Message > &diagParams)
	Create the diagnostic task from the given params. More...
virtual ::std::shared_ptr<::cras::TopicStatus< Message > >	getDiagnosticTask () const
	Get the topic diagnostic task. More...
virtual	~DiagnosedPubSub ()=default

Protected Member Functions
template<class M = Message, ::std::enable_if_t<::ros::message_traits::HasHeader< M >::value, bool > EnableM = true>
void	addDelayParams (::cras::SimpleTopicStatusParam< Message > &topicStatusParam, const ::cras::BoundParamHelperPtr &params)
	When configuring from ROS params, load the delay configuration. More...
template<class M = Message, ::std::enable_if_t<!::ros::message_traits::HasHeader< M >::value, bool > EnableM = true>
void	addDelayParams (::cras::SimpleTopicStatusParam< Message > &topicStatusParam, const ::cras::BoundParamHelperPtr &params)
	When configuring from ROS params for a headerless message type, this function does nothing. More...

Protected Attributes
::std::shared_ptr<::cras::TopicStatus< Message > >	diag {nullptr}
	The diagnostic task. More...

Detailed Description

template<class Message, typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>
class cras::DiagnosedPubSub< Message, Enable >

Base for ROS publisher and subscriber with automatic message rate and delay diagnostics.

This class offers an option to configure the diagnostic task from a set of ROS parameters. The following parameters are read:

• rate/desired (double, Hz, no default): If set, this value will be used as the default of min/max rates.
• rate/min (double, Hz, default 0.0 or desired): Minimum acceptable rate.
• rate/max (double, Hz, default +inf or desired): Maximum acceptable rate.
• rate/tolerance (double, default 0.1): Tolerance of the min/max rate (0.0 means that the min/max rate limits are strict).
• rate/window_size (uint, default 5): Over how many diagnostics updates should the rate be computed.
• delay/min (double, s, default -1.0): Minimum acceptable delay (only computed for messages with a header).
• delay/max (double, s, default 5.0): Maximum acceptable delay (only computed for messages with a header).

Template Parameters

Message	Type of the published/subscribed message.
Enable	SFINAE only. Do not explicitly set.

Definition at line 57 of file diagnosed_pub_sub.hpp.

Constructor & Destructor Documentation

DiagnosedPubSub() [1/4]

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

cras::DiagnosedPubSub< Message, Enable >::DiagnosedPubSub ( const ::std::shared_ptr<::cras::TopicStatus< Message >> &  diag )

explicit

Use the given diagnostic task to diagnose the publisher/subscriber.

Parameters

[in]

diag

DiagnosedPubSub() [2/4]

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

cras::DiagnosedPubSub< Message, Enable >::DiagnosedPubSub ( const ::std::string &  name, const ::cras::TopicStatusParam< Message > &  diagParams  )

explicit

Create the diagnostic task from the given params.

Parameters

[in]	name	Name of the task.
[in]	diagParams	Parameters of the task.

DiagnosedPubSub() [3/4]

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

cras::DiagnosedPubSub< Message, Enable >::DiagnosedPubSub	(	const ::cras::BoundParamHelperPtr &	params,
		const ::cras::SimpleTopicStatusParam< Message > &	defaultParams
	)

Configure the diagnostic task from the given ROS parameter helper.

Parameters

[in]	params	The ROS parameters to load configuration from.
[in]	defaultParams	Defaults used in case a ROS parameter doesn' exist.

DiagnosedPubSub() [4/4]

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

cras::DiagnosedPubSub< Message, Enable >::DiagnosedPubSub ( const ::cras::BoundParamHelperPtr &  params )

explicit

Configure the diagnostic task from the given ROS parameter helper.

Parameters

[in]

params

The ROS parameters to load configuration from.

~DiagnosedPubSub()

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

virtual cras::DiagnosedPubSub< Message, Enable >::~DiagnosedPubSub ( )

virtualdefault

Member Function Documentation

addDelayParams() [1/2]

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

template<class M = Message, ::std::enable_if_t<::ros::message_traits::HasHeader< M >::value, bool > EnableM = true>

void cras::DiagnosedPubSub< Message, Enable >::addDelayParams ( ::cras::SimpleTopicStatusParam< Message > &  topicStatusParam, const ::cras::BoundParamHelperPtr &  params  )

protected

When configuring from ROS params, load the delay configuration.

Template Parameters

M	SFINAE only. Do not set explicitly.
EnableM	SFINAE only. Do not set explicitly.

Parameters

[in]	topicStatusParam	Some pre-loaded param struct.
[in]	params	Parameters to load from?

addDelayParams() [2/2]

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

template<class M = Message, ::std::enable_if_t<!::ros::message_traits::HasHeader< M >::value, bool > EnableM = true>

void cras::DiagnosedPubSub< Message, Enable >::addDelayParams ( ::cras::SimpleTopicStatusParam< Message > &  topicStatusParam, const ::cras::BoundParamHelperPtr &  params  )

protected

When configuring from ROS params for a headerless message type, this function does nothing.

Template Parameters

M	SFINAE only. Do not set explicitly.
EnableM	SFINAE only. Do not set explicitly.

Parameters

[in]	topicStatusParam	Some pre-loaded param struct.
[in]	params	Parameters to load from?

attach()

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

virtual void cras::DiagnosedPubSub< Message, Enable >::attach ( ::diagnostic_updater::Updater &  updater )

virtual

Add the diagnostic task to the given updater.

Parameters

[in]

updater

The updater to add to.

getDiagnosticTask()

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

virtual ::std::shared_ptr<::cras::TopicStatus<Message> > cras::DiagnosedPubSub< Message, Enable >::getDiagnosticTask

(

)

const

Get the topic diagnostic task.

Returns

The task.

Member Data Documentation

diag

template<class Message , typename Enable = ::std::enable_if_t<::ros::message_traits::IsMessage<Message>::value>>

::std::shared_ptr<::cras::TopicStatus<Message> > cras::DiagnosedPubSub< Message, Enable >::diag {nullptr}

protected

The diagnostic task.

Definition at line 125 of file diagnosed_pub_sub.hpp.

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

• diagnosed_pub_sub.hpp