controller_diagnostics.h
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00034 
00037 
00038 #ifndef _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_
00039 #define _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_
00040 
00041 #include <ros/ros.h>
00042 #include <pr2_mechanism_msgs/MechanismStatistics.h>
00043 #include <pr2_mechanism_msgs/ControllerStatistics.h>
00044 #include <diagnostic_updater/DiagnosticStatusWrapper.h>
00045 #include <boost/shared_ptr.hpp>
00046 
00047 namespace pr2_mechanism_diagnostics
00048 {
00049 
00058 class ControllerStats
00059 {
00060 private:
00061   ros::Time updateTime;
00062   
00063   std::string name;
00064   ros::Time timestamp;
00065   bool running;
00066   ros::Duration max_time;
00067   ros::Duration mean_time;
00068   ros::Duration variance_time;
00069   int num_overruns;
00070   ros::Time last_overrun_time;
00071 
00072   bool disable_warnings_;
00073 
00074 public:
00075   ControllerStats(std::string nam, bool disable_warnings); 
00076     
00077   ~ControllerStats() {}
00078 
00079   bool update(const pr2_mechanism_msgs::ControllerStatistics &cs);
00080 
00082   bool shouldDiscard() const { return (ros::Time::now() - updateTime).toSec() > 3; }
00083 
00084   boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;
00085 
00086 };
00087 
00088 
00089 }
00090 
00091 #endif // _PR2_MECHANISM_DIAGNOSTICS_H_CTRL_DIAG_


pr2_mechanism_diagnostics
Author(s): Kevin Watts
autogenerated on Thu Dec 12 2013 12:04:01