Lightweight and fast frequency monitor. More...

#include <frequency.hpp>

Public Member Functions
const FrequencyDiagnostics &	analyse ()
	Analyse the recent updates to generate monitoring statistics.
const FrequencyDiagnostics &	diagnostics () const
	Diagnostics getter function.
	FrequencyMonitor (const float &window_period=2.0, const bool &use_realtime_clock=false)
	Setup the frequency monitor.
void	update ()
	Let the diagnostics know that new data has arrived.
Protected Attributes
FrequencyDiagnostics	current_diagnostics
unsigned int	incoming_counter
ecl::TimeStamp	last_anyalsed
ecl::TimeStamp	last_incoming
ecl::TimeStamp	maximum_interval
ecl::TimeStamp	minimum_interval
ecl::TimeStamp	period
bool	use_realtime_clock

Detailed Description

Lightweight and fast frequency monitor.

This class doesn't dynamically update over a window, nor does it collect and store data to compute characteristics like standard deviations. It is however, suitable for most use case scenarios where you are simply interested in the hz/minimum_interval/maximum_interval of data over a fixed period.

Usage:

 float window_period = 2.0;
 FrequencyMonitor monitor(window_period, false);
 FrequencyMonitor ros_monitor(window_period, true);  // use the realtime clock to match ros timestamps
 FrequencyDiagnostics diagnostics;

 void incomingDataCallback() {
   monitor.update();  // register that new data has arrived
 }

 void process() {
   diagnostics = monitor.analyse();
 }

 void process2() {
   monitor.analyse();
   diagnostics = monitor.getDiagnostics();
 }

Definition at line 83 of file frequency.hpp.

Constructor & Destructor Documentation

ecl::FrequencyMonitor::FrequencyMonitor	(	const float &	window_period = `2.0`,
		const bool &	use_realtime_clock = `false`
	)

Setup the frequency monitor.

Parameters:

window_period	: time interval over which updates are analysed.
use_realtime_clock	: better to use the monotonic clock, but sometimes (e.g. ros), realtime is required.

Definition at line 20 of file lib/frequency.cpp.

Member Function Documentation

const FrequencyDiagnostics & ecl::FrequencyMonitor::analyse ( )

Analyse the recent updates to generate monitoring statistics.

Right now this just uses a fixed window (not moving) that only updates the information if the period since the last analyse() request was made has been exceeded.

every two seconds, we update the status as follows

Definition at line 57 of file lib/frequency.cpp.

const FrequencyDiagnostics& ecl::FrequencyMonitor::diagnostics ( ) const [inline]

Diagnostics getter function.