Class to buffer and publish previous 1-second of motor data. More...
#include <motor_trace_buffer.h>
Public Member Functions | |
| void | checkPublish () |
| Publishes motor trace if delay time is up. More... | |
| void | flagPublish (const std::string &reason, int level, int delay) |
| flags delayed publish of motor trace. More... | |
| bool | initialize (const sr_edc_ethercat_drivers::ActuatorInfo &actuator_info) |
| Initializes motor trace publisher. More... | |
| MotorTraceBuffer (unsigned trace_size) | |
| void | reset () |
| void | sample (const sr_edc_ethercat_drivers::MotorTraceSample &s) |
| Adds sample to motor trace. More... | |
Protected Attributes | |
| int | publish_delay_ |
| int | publish_level_ |
| std::string | publish_reason_ |
| unsigned | published_traces_ |
| realtime_tools::RealtimePublisher< sr_edc_ethercat_drivers::MotorTrace > * | publisher_ |
| std::vector< sr_edc_ethercat_drivers::MotorTraceSample > | trace_buffer_ |
| unsigned | trace_index_ |
| unsigned | trace_size_ |
Detailed Description
Class to buffer and publish previous 1-second of motor data.
Data is sampled with each cycle of realtime loop so that there is too much data to be published continuouly. Instead of continuously publishing data, the trace buffers the previous X seconds of samples. Publishing can be triggered as result of event or request.
Definition at line 49 of file motor_trace_buffer.h.
Constructor & Destructor Documentation
◆ MotorTraceBuffer()
|
explicit |
Definition at line 35 of file motor_trace_buffer.cpp.
Member Function Documentation
◆ checkPublish()
| void sr_edc_ethercat_drivers::MotorTraceBuffer::checkPublish | ( | ) |
Publishes motor trace if delay time is up.
Definition at line 79 of file motor_trace_buffer.cpp.
◆ flagPublish()
| void sr_edc_ethercat_drivers::MotorTraceBuffer::flagPublish | ( | const std::string & | reason, |
| int | level, | ||
| int | delay | ||
| ) |
flags delayed publish of motor trace.
New publish will only take precedence of previous publish iff level is higher than previous level
Definition at line 125 of file motor_trace_buffer.cpp.
◆ initialize()
| bool sr_edc_ethercat_drivers::MotorTraceBuffer::initialize | ( | const sr_edc_ethercat_drivers::ActuatorInfo & | actuator_info | ) |
Initializes motor trace publisher.
Definition at line 55 of file motor_trace_buffer.cpp.
◆ reset()
| void sr_edc_ethercat_drivers::MotorTraceBuffer::reset | ( | ) |
Definition at line 45 of file motor_trace_buffer.cpp.
◆ sample()
| void sr_edc_ethercat_drivers::MotorTraceBuffer::sample | ( | const sr_edc_ethercat_drivers::MotorTraceSample & | s | ) |
Adds sample to motor trace.
Definition at line 146 of file motor_trace_buffer.cpp.
Member Data Documentation
◆ publish_delay_
|
protected |
Definition at line 71 of file motor_trace_buffer.h.
◆ publish_level_
|
protected |
Definition at line 72 of file motor_trace_buffer.h.
◆ publish_reason_
|
protected |
Definition at line 73 of file motor_trace_buffer.h.
◆ published_traces_
|
protected |
Definition at line 68 of file motor_trace_buffer.h.
◆ publisher_
|
protected |
Definition at line 70 of file motor_trace_buffer.h.
◆ trace_buffer_
|
protected |
Definition at line 69 of file motor_trace_buffer.h.
◆ trace_index_
|
protected |
Definition at line 67 of file motor_trace_buffer.h.
◆ trace_size_
|
protected |
Definition at line 66 of file motor_trace_buffer.h.
The documentation for this class was generated from the following files: