topic_manager.cpp

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// Contains the topic configuration & status
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
 
#include "topic_manager.h"
 
#include <ros/node_handle.h>
#include <rosfmt/rosfmt.h>
 
#include <ros/names.h>
 
namespace rosbag_fancy
{
 
constexpr float STAT_TIME = 0.5;
 
const ros::WallTime Topic::T0 = ros::WallTime::now();
 
TopicManager::TopicManager()
{
        ros::NodeHandle nh;
        m_timer = nh.createSteadyTimer(ros::WallDuration(STAT_TIME),
                boost::bind(&TopicManager::updateStatistics, this)
        );
}
 
void TopicManager::addTopic(const std::string& topic, float rateLimit, int flags)
{
        std::string resolvedName = ros::names::resolve(topic);
 
        auto it = std::find_if(m_topics.begin(), m_topics.end(), [&](Topic& t){
                return t.name == resolvedName;
        });
 
        if(it != m_topics.end())
        {
                ROSFMT_WARN(
                        "You tried to record topic '{}' twice. I'll ignore that (and use the first rate limit given, if applicable)",
                        resolvedName
                );
                return;
        }
 
        m_topics.emplace_back(resolvedName, m_topics.size(), rateLimit, flags);
}
 
void TopicManager::updateStatistics()
{
        for(auto& topic : m_topics)
        {
                topic.messageRate = topic.messagesInStatsPeriod / STAT_TIME;
                topic.messagesInStatsPeriod = 0;
 
                topic.bandwidth = topic.bytesInStatsPeriod / STAT_TIME;
                topic.bytesInStatsPeriod = 0;
        }
}
 
}