rate_limiter.h

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#pragma once
 
#include <ros/duration.h>
#include <ros/rate.h>
#include <ros/time.h>
 
namespace cras
{
 
class RateLimiter
{
public:
  explicit RateLimiter(const ::ros::Rate& rate);
 
  explicit RateLimiter(const ::ros::Duration& period);
 
  virtual bool shouldPublish(const ::ros::Time& stamp) = 0;
 
  virtual void reset() = 0;
 
  void setJumpBackTolerance(const ::ros::Duration& tolerance);
 
protected:
  bool jumpedBack(const ::ros::Time& stamp, const ::ros::Time& previousStamp) const;
 
  ::ros::Rate rate;
 
  ::ros::Duration period;
 
  ::ros::Duration jumpBackTolerance {3, 0};
};
 
class ThrottleLimiter : public ::cras::RateLimiter
{
public:
  explicit ThrottleLimiter(const ::ros::Rate& rate);
  explicit ThrottleLimiter(const ::ros::Duration& period);
 
  bool shouldPublish(const ::ros::Time& stamp) override;
  void reset() override;
 
protected:
  ::ros::Time lastPublishTime {0, 0};
};
 
class TokenBucketLimiter : public ::cras::RateLimiter
{
public:
  explicit TokenBucketLimiter(const ::ros::Rate& rate, size_t bucketCapacity = 2, double initialTokensAvailable = 1.0);
 
  explicit TokenBucketLimiter(const ::ros::Duration& period, size_t bucketCapacity = 2,
    double initialTokensAvailable = 1.0);
 
  bool shouldPublish(const ::ros::Time& stamp) override;
  void reset() override;
 
protected:
  ::ros::Time lastCheckTime {0, 0};
 
  size_t bucketCapacity;
 
  ros::Duration tokensAvailable;
 
  double initialTokensAvailable;
};
 
}