Class RateLimiter

Inheritance Relationships

Derived Types

Class Documentation

class RateLimiter

Generic rate-limiter interface.

Subclassed by cras::ThrottleLimiter, cras::TokenBucketLimiter

Public Functions

explicit RateLimiter(const ::rclcpp::Rate &rate)

Create limiter with the given rate.

Parameters:

rate – [in] The desired rate of messages.

explicit RateLimiter(const ::rclcpp::Clock::SharedPtr &clock, const ::rclcpp::Duration &period)

Create limiter with rate corresponding to the given period.

Parameters:

  • clock – [in] The clock to use.

  • period – [in] Average delay between two desired output messages.

virtual ~RateLimiter()
virtual bool shouldPublish(const ::rclcpp::Time &stamp) = 0

Call this function whenever a message is received. It tells whether the message has passed the rate-limiting and should be published, or whether it should be skipped.

Parameters:

stamp – [in] Time when the message should be sent (usually not header.stamp!).

Returns:

Whether to continue publishing the message.

virtual void reset()

Reset the rate-limiter as if it were newly created with the same parameters.

void setJumpBackTolerance(const ::rclcpp::Duration &tolerance)

Set the limit for recognizing backward time jumps.

Parameters:

tolerance – [in] If a new message comes that is tolerance seconds older than the last seen message, it should be treated as a jump.

void setJumpBackTolerance(const ::rcl_jump_threshold_t &tolerance)

Set the limit for recognizing time jumps.

Parameters:

tolerance – [in] The tolerance parameters.

Protected Functions

virtual void onJump(const rcl_time_jump_t &timeJump)

Callback called when time jumped.

Parameters:

timeJump – [in] Parameters of the time jump.

Protected Attributes

::rclcpp::Rate rate

The desired rate (1/period).

::rclcpp::Duration period

The desired period between message (1/rate).

::rcl_jump_threshold_t jumpBackTolerance = {true, 0, -3000000000}

Threshold for time jump detection.

::rclcpp::JumpHandler::SharedPtr jumpHandler = {nullptr}

Handler of time jumps.

::std::optional<::std::tuple<::rclcpp::Time, ::rcl_time_jump_t>> lastJump = {}

Parameters of the last time jump.