Nodelet for counting messages and their size. More...

#include <count_messages.h>

Inheritance diagram for cras::CountMessagesNodelet:

[legend]

Private Member Functions
virtual void	cb (const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &event)
	Callback for counting the messages. More...

void	onInit () override

virtual void	resetCb (const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &)
	Called when the counter should be reset. The incoming message can be of any type and should not be examined. More...

Private Attributes
size_t	bytes {0}
	Byte size of the received messages. More...

size_t	count {0}
	Number of received messages. More...

::std::mutex	mutex
	Mutex protecting `count` and `bytes`. More...

::ros::Subscriber	resetSub
	The reset message subscriber. More...

::ros::Subscriber	sub
	The message subscriber. More...

Additional Inherited Members
Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default

Public Member Functions inherited from NodeletBase<::nodelet::Nodelet >
	~NodeletBase () override=default

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

Public Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Public Member Functions inherited from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override

::std::shared_ptr<::cras::NodeletAwareTFBuffer >	getBufferPtr () const

	NodeletWithSharedTfBuffer ()

void	reset () override

void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override

bool	usesSharedBuffer () const override

	~NodeletWithSharedTfBuffer () override

Public Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override

Public Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Public Member Functions inherited from StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override

void	requestStop () override

void	shutdown ()

virtual	~StatefulNodelet ()

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const

virtual	~InterruptibleSleepInterface ()

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)

::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const

void	startDiagTimer () const

void	startDiagTimer (const ::ros::NodeHandle &nh) const

void	stopDiagTimer () const

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})

Protected Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()

virtual void	checkTimeJump (const ::ros::Time &now)

void	initRos (const ::ros::NodeHandle &pnh) override

void	startAutoCheckTimeJump ()

virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)

virtual void	stopAutoCheckTimeJump ()

	TimeJumpResettable (const ::cras::LogHelperPtr &log)

	~TimeJumpResettable () override

Protected Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)

virtual	~Resettable ()

Protected Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const

Protected Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration

Detailed Description

Nodelet for counting messages and their size.

ROS parameters:

~in_queue_size (uint, default 1000): Queue size for the subscriber.
~count (uint, output parameter): The number of messages received so far.
~bytes (uint, output parameter): The size of messages received so far (in bytes).
~tcp_no_delay (bool, default False): If True, the TCP_NODELAY flag is set for the subscriber. This should decrease the latency of small messages, but might give suboptimal transmission speed for large messages.

Subscribed topics:

~input (any type): The input messages.
~reset (any type): When a message is received on this topic, the counter is reset to zero.

Definition at line 38 of file count_messages.h.

Member Function Documentation

◆ cb()

void cras::CountMessagesNodelet::cb ( const ::ros::MessageEvent<::topic_tools::ShapeShifter const > & event )

privatevirtual

Callback for counting the messages.

Parameters

[in] event The message event.

Definition at line 26 of file count_messages.cpp.

◆ onInit()

void cras::CountMessagesNodelet::onInit ( )

overrideprivatevirtual

Reimplemented from NodeletBase<::nodelet::Nodelet >.

Definition at line 35 of file count_messages.cpp.

◆ resetCb()

void cras::CountMessagesNodelet::resetCb ( const ::ros::MessageEvent<::topic_tools::ShapeShifter const > & )

privatevirtual

Called when the counter should be reset. The incoming message can be of any type and should not be examined.

Definition at line 60 of file count_messages.cpp.

Member Data Documentation

◆ bytes

size_t cras::CountMessagesNodelet::bytes {0}

private

Byte size of the received messages.

Definition at line 60 of file count_messages.h.

◆ count

size_t cras::CountMessagesNodelet::count {0}

private

Number of received messages.

Definition at line 63 of file count_messages.h.

◆ mutex

::std::mutex cras::CountMessagesNodelet::mutex

private

Mutex protecting count and bytes.

Definition at line 66 of file count_messages.h.

◆ resetSub

::ros::Subscriber cras::CountMessagesNodelet::resetSub

private

The reset message subscriber.

Definition at line 57 of file count_messages.h.

◆ sub

::ros::Subscriber cras::CountMessagesNodelet::sub

private

The message subscriber.

Definition at line 54 of file count_messages.h.

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

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ cb()

◆ onInit()

◆ resetCb()

Member Data Documentation

◆ bytes

◆ count

◆ mutex

◆ resetSub

◆ sub