Template Class SubscriptionTopicStatistics

Class Documentation

template<typename CallbackMessageT>
class SubscriptionTopicStatistics

Class used to collect, measure, and publish topic statistics data. Current statistics supported for subscribers are received message age and received message period.

Template Parameters:

CallbackMessageT – the subscribed message type

Public Functions

inline SubscriptionTopicStatistics(const std::string &node_name, rclcpp::Publisher<statistics_msgs::msg::MetricsMessage>::SharedPtr publisher)

Construct a SubscriptionTopicStatistics object.

This object wraps utilities, defined in libstatistics_collector, to collect, measure, and publish topic statistics data. This throws an invalid_argument if the input publisher is null.

Parameters:

  • node_name – the name of the node, which created this instance, in order to denote topic source

  • publisher – instance constructed by the node in order to publish statistics data. This class owns the publisher.

Throws:

std::invalid_argument – if publisher pointer is nullptr

inline virtual ~SubscriptionTopicStatistics()
inline virtual void handle_message(const CallbackMessageT &received_message, const rclcpp::Time now_nanoseconds) const

Handle a message received by the subscription to collect statistics.

This method acquires a lock to prevent race conditions to collectors list.

Parameters:

  • received_message – the message received by the subscription

  • now_nanoseconds – current time in nanoseconds

inline void set_publisher_timer(rclcpp::TimerBase::SharedPtr publisher_timer)

Set the timer used to publish statistics messages.

Parameters:

publisher_timer – the timer to fire the publisher, created by the node

inline virtual void publish_message_and_reset_measurements()

Publish a populated MetricsStatisticsMessage.

This method acquires a lock to prevent race conditions to collectors list.

Protected Functions

inline std::vector<StatisticData> get_current_collector_data() const

Return a vector of all the currently collected data.

This method acquires a lock to prevent race conditions to collectors list.

Returns:

a vector of all the collected data