Diagnostic task for topic frequency and timestamp delay (combining FrequencyStatus and TimeStampStatus tasks). More...

#include <topic_status.hpp>

Inheritance diagram for cras::TopicStatus< Message, typename >:

Public Member Functions
::ros::Rate	getExpectedRate () const
	Get the expected/average rate. If min and max are the same, their value will be returned. If min rate is non-positive, the max rate is returned. Otherwise, if max rate is infinite, the min rate will be returned. If min is positive and max is finite, their arithmetic mean is returned. More...

template<typename M = Message, typename = ::std::enable_if_t<::ros::message_traits::HasHeader<M>::value>>
::ros::Duration	getMaxDelay () const
	Max acceptable delay (in s). It can be negative if timestamps in future are expected. More...

::ros::Rate	getMaxRate () const
	Maximum allowed frequency. More...

template<typename M = Message, typename = ::std::enable_if_t<::ros::message_traits::HasHeader<M>::value>>
::ros::Duration	getMinDelay () const
	Min acceptable delay (in s). It can be negative if timestamps in future are expected. More...

::ros::Rate	getMinRate () const
	Minimum allowed frequency. More...

double	getRateTolerance () const
	Tolerance of frequency. More...

int	getRateWindowSize () const
	Number of updates during which the frequency is computed. More...

virtual void	tick (const ::ros::MessageEvent< Message > &event)
	Record that a message has arrived. More...

virtual void	tick (const ::ros::Time &stamp)
	Record that a message has arrived now with the given timestamp. More...

virtual void	tick (const Message &message)
	Record that a message has arrived. More...

virtual void	tick (const typename Message::ConstPtr &message)
	Record that a message has arrived. More...

virtual void	tick (const typename Message::Ptr &message)
	Record that a message has arrived. More...

	TopicStatus (const ::std::string &name, const ::cras::SimpleTopicStatusParam< Message > &params)
	Create the diagnostic task checking frequency of messages and timestamp delay (if the message has header). More...

template<typename M = Message, ::std::enable_if_t<!::ros::message_traits::HasHeader< M >::value, bool > = true>
	TopicStatus (const ::std::string &name, const ::cras::TopicStatusParam< Message > &params)
	Create the diagnostic task for a header-less message (checking frequency only). More...

template<typename M = Message, ::std::enable_if_t<::ros::message_traits::HasHeader< M >::value, bool > = true>
	TopicStatus (const ::std::string &name, const ::cras::TopicStatusParam< Message > &params)
	Create the diagnostic task for a message with header (checking frequency and timestamp delay). More...

template<typename M = Message, ::std::enable_if_t<!::ros::message_traits::HasHeader< M >::value, bool > = true>
	TopicStatus (const ::std::string &name, const double minRate=0.0, const double maxRate=::std::numeric_limits< double >::infinity(), const double rateTolerance=0.1, const int rateWindowSize=5)
	Create the diagnostic task for a header-less message (checking frequency only). More...

template<typename M = Message, ::std::enable_if_t<::ros::message_traits::HasHeader< M >::value, bool > = true>
	TopicStatus (const ::std::string &name, const double minRate=0.0, const double maxRate=::std::numeric_limits< double >::infinity(), const double rateTolerance=0.1, const int rateWindowSize=5, const double minDelay=-1.0, const double maxDelay=5.0)
	Create the diagnostic task for a message with header (checking frequency and timestamp delay). More...

	~TopicStatus () override

Public Member Functions inherited from diagnostic_updater::CompositeDiagnosticTask
void	addTask (DiagnosticTask *t)

	CompositeDiagnosticTask (const std::string name)

virtual void	run (DiagnosticStatusWrapper &stat)

Public Member Functions inherited from diagnostic_updater::DiagnosticTask
	DiagnosticTask (const std::string name)

const std::string &	getName ()

virtual	~DiagnosticTask ()

Protected Attributes
::std::unique_ptr<::diagnostic_updater::FrequencyStatus >	freqTask
	The frequency-checking diagnostic task. This will always be non-null. More...

::cras::TopicStatusParam< Message >	origParams
	The parameters via which this task has been configured. More...

::std::unique_ptr<::diagnostic_updater::SlowTimeStampStatus >	stampTask
	The delay-checking diagnostic task. It will be non-null only for messages with header. More...

Detailed Description

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

Diagnostic task for topic frequency and timestamp delay (combining FrequencyStatus and TimeStampStatus tasks).

Template Parameters

Message Type of the message. If it contains a header field, the task will automatically check both frequency and timestamp delay. Header-less messages will only have their frequency checked.

Definition at line 34 of file topic_status.hpp.

Constructor & Destructor Documentation

◆ TopicStatus() [1/5]

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

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

cras::TopicStatus< Message, typename >::TopicStatus	(	const ::std::string &	name,
		const ::cras::TopicStatusParam< Message > &	params
	)

inline

Create the diagnostic task for a header-less message (checking frequency only).

Template Parameters

M	SFINAE only. Do not set explicitly.

Parameters

[in]	name	Name of the diagnostic task.
[in]	params	Parameters of the task.

Definition at line 44 of file topic_status.hpp.

◆ TopicStatus() [2/5]

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

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

cras::TopicStatus< Message, typename >::TopicStatus	(	const ::std::string &	name,
		const double	minRate = `0.0`,
		const double	maxRate = `::std::numeric_limits<double>::infinity()`,
		const double	rateTolerance = `0.1`,
		const int	rateWindowSize = `5`
	)

inlineexplicit

Create the diagnostic task for a header-less message (checking frequency only).

Template Parameters

M	SFINAE only. Do not set explicitly.

Parameters

[in]	name	Name of the diagnostic task.
[in]	minRate	Minimum allowed frequency.
[in]	maxRate	Maximum allowed frequency.
[in]	rateTolerance	Tolerance of the rate.
[in]	rateWindowSize	Number of updates during which the frequency is computed.

Definition at line 61 of file topic_status.hpp.

◆ TopicStatus() [3/5]

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

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

cras::TopicStatus< Message, typename >::TopicStatus	(	const ::std::string &	name,
		const ::cras::TopicStatusParam< Message > &	params
	)

inline

Create the diagnostic task for a message with header (checking frequency and timestamp delay).

Template Parameters

M	SFINAE only. Do not set explicitly.

Parameters

[in]	name	Name of the diagnostic task.
[in]	params	Parameters of the task.

Definition at line 75 of file topic_status.hpp.

◆ TopicStatus() [4/5]

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

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

cras::TopicStatus< Message, typename >::TopicStatus	(	const ::std::string &	name,
		const double	minRate = `0.0`,
		const double	maxRate = `::std::numeric_limits<double>::infinity()`,
		const double	rateTolerance = `0.1`,
		const int	rateWindowSize = `5`,
		const double	minDelay = `-1.0`,
		const double	maxDelay = `5.0`
	)

inlineexplicit

Create the diagnostic task for a message with header (checking frequency and timestamp delay).

Template Parameters

M	SFINAE only. Do not set explicitly.

Parameters

[in]	name	Name of the diagnostic task.
[in]	minRate	Minimum allowed frequency.
[in]	maxRate	Maximum allowed frequency.
[in]	rateTolerance	Tolerance of the rate.
[in]	rateWindowSize	Number of updates during which the frequency is computed.
[in]	minDelay	Min acceptable delay (in s). It can be negative if timestamps in future are expected.
[in]	maxDelay	Max acceptable delay (in s). It can be negative if timestamps in future are expected.

Definition at line 97 of file topic_status.hpp.

◆ TopicStatus() [5/5]

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

cras::TopicStatus< Message, typename >::TopicStatus	(	const ::std::string &	name,
		const ::cras::SimpleTopicStatusParam< Message > &	params
	)

inline

Create the diagnostic task checking frequency of messages and timestamp delay (if the message has header).

Parameters

[in]	name	Name of the diagnostic task.
[in]	params	Parameters of the task.

Definition at line 111 of file topic_status.hpp.

◆ ~TopicStatus()

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

cras::TopicStatus< Message, typename >::~TopicStatus ( )

inlineoverride

Definition at line 116 of file topic_status.hpp.

Member Function Documentation

◆ getExpectedRate()

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

::ros::Rate cras::TopicStatus< Message, typename >::getExpectedRate ( ) const

inline

Get the expected/average rate. If min and max are the same, their value will be returned. If min rate is non-positive, the max rate is returned. Otherwise, if max rate is infinite, the min rate will be returned. If min is positive and max is finite, their arithmetic mean is returned.

Returns: The expected rate (in Hz).

Definition at line 175 of file topic_status.hpp.

◆ getMaxDelay()

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

template<typename M = Message, typename = ::std::enable_if_t<::ros::message_traits::HasHeader<M>::value>>

::ros::Duration cras::TopicStatus< Message, typename >::getMaxDelay ( ) const

inline

Max acceptable delay (in s). It can be negative if timestamps in future are expected.

Template Parameters

M	SFINAE only. Do not set explicitly.

Returns: The maximum delay.

Definition at line 233 of file topic_status.hpp.

◆ getMaxRate()

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

::ros::Rate cras::TopicStatus< Message, typename >::getMaxRate ( ) const

inline

Maximum allowed frequency.

Returns: The frequency (in Hz).

Definition at line 193 of file topic_status.hpp.

◆ getMinDelay()

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

template<typename M = Message, typename = ::std::enable_if_t<::ros::message_traits::HasHeader<M>::value>>

::ros::Duration cras::TopicStatus< Message, typename >::getMinDelay ( ) const

inline

Min acceptable delay (in s). It can be negative if timestamps in future are expected.

Template Parameters

M	SFINAE only. Do not set explicitly.

Returns: The minimum delay.

Definition at line 222 of file topic_status.hpp.

◆ getMinRate()

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

::ros::Rate cras::TopicStatus< Message, typename >::getMinRate ( ) const

inline

Minimum allowed frequency.

Returns: The frequency (in Hz).

Definition at line 184 of file topic_status.hpp.

◆ getRateTolerance()

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

double cras::TopicStatus< Message, typename >::getRateTolerance ( ) const

inline

Tolerance of frequency.

Returns: The tolerance (0.0 means exact match of the frequency bounds).

Definition at line 202 of file topic_status.hpp.

◆ getRateWindowSize()

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

int cras::TopicStatus< Message, typename >::getRateWindowSize ( ) const

inline

Number of updates during which the frequency is computed.

Returns: The window size.

Definition at line 211 of file topic_status.hpp.

◆ tick() [1/5]

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

virtual void cras::TopicStatus< Message, typename >::tick ( const ::ros::MessageEvent< Message > & event )

inlinevirtual

Record that a message has arrived.

Parameters

[in] event The message event describing the message that arrived.

Definition at line 164 of file topic_status.hpp.

◆ tick() [2/5]

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

virtual void cras::TopicStatus< Message, typename >::tick ( const ::ros::Time & stamp )

inlinevirtual

Record that a message has arrived now with the given timestamp.

Parameters

[in] stamp Timestamp in the message header.

Definition at line 124 of file topic_status.hpp.

◆ tick() [3/5]

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

virtual void cras::TopicStatus< Message, typename >::tick ( const Message & message )

inlinevirtual

Record that a message has arrived.

Parameters

[in] message The message that arrived.

Definition at line 135 of file topic_status.hpp.

◆ tick() [4/5]

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

virtual void cras::TopicStatus< Message, typename >::tick ( const typename Message::ConstPtr & message )

inlinevirtual

Record that a message has arrived.

Parameters

[in] message The message that arrived.

Definition at line 155 of file topic_status.hpp.

◆ tick() [5/5]

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

virtual void cras::TopicStatus< Message, typename >::tick ( const typename Message::Ptr & message )

inlinevirtual

Record that a message has arrived.

Parameters

[in] message The message that arrived.

Definition at line 146 of file topic_status.hpp.

Member Data Documentation

◆ freqTask

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

::std::unique_ptr<::diagnostic_updater::FrequencyStatus> cras::TopicStatus< Message, typename >::freqTask

protected

The frequency-checking diagnostic task. This will always be non-null.

Definition at line 240 of file topic_status.hpp.

◆ origParams

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

::cras::TopicStatusParam<Message> cras::TopicStatus< Message, typename >::origParams

protected

The parameters via which this task has been configured.

Definition at line 246 of file topic_status.hpp.

◆ stampTask

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

::std::unique_ptr<::diagnostic_updater::SlowTimeStampStatus> cras::TopicStatus< Message, typename >::stampTask

protected

The delay-checking diagnostic task. It will be non-null only for messages with header.

Definition at line 243 of file topic_status.hpp.

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

topic_status.hpp

Public Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ TopicStatus() [1/5]

◆ TopicStatus() [2/5]

◆ TopicStatus() [3/5]

◆ TopicStatus() [4/5]

◆ TopicStatus() [5/5]

◆ ~TopicStatus()

Member Function Documentation

◆ getExpectedRate()

◆ getMaxDelay()

◆ getMaxRate()

◆ getMinDelay()

◆ getMinRate()

◆ getRateTolerance()

◆ getRateWindowSize()

◆ tick() [1/5]

◆ tick() [2/5]

◆ tick() [3/5]

◆ tick() [4/5]

◆ tick() [5/5]

Member Data Documentation

◆ freqTask

◆ origParams

◆ stampTask

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