Class custom_diagnostic_tasks::RateBoundStatus

ClassList > custom_diagnostic_tasks > RateBoundStatus

Diagnostic task to monitor the interval between events. More...

• #include <rate_bound_status.hpp>

Inherits the following classes: diagnostic_updater::DiagnosticTask

Public Functions

Type	Name
	RateBoundStatus (const rclcpp::Node * parent_node, const RateBoundStatusParam & ok_params, const RateBoundStatusParam & warn_params, const size_t num_frame_transition=1, const bool immediate_error_report=true, const std::string & name="rate bound check") Constructs RateBoundstatus, which inherits diagnostic_updater::DiagnosticTask.
void	run (diagnostic_updater::DiagnosticStatusWrapper & stat) override function called every update
void	tick () Calculate the frequency of how much this function is called.

Protected Attributes

Type	Name
StateHolder	candidate_state_
std::shared_ptr< rclcpp::Clock >	clock_
StateHolder	current_state_
std::optional< double >	frequency_
bool	immediate_error_report_
std::mutex	lock_
size_t	num_frame_transition_
RateBoundStatusParam	ok_params_
std::optional< double >	previous_frame_timestamp_
RateBoundStatusParam	warn_params_
bool	zero_seen_

Protected Functions

Type	Name
double	get_now ()

Protected Static Functions

Type	Name
unsigned char	get_level (const StateHolder & state)
std::string	get_level_string (unsigned char level)
std::string	get_msg (const StateHolder & state)
size_t	get_num_observations (const StateHolder & state)

Detailed Description

This diagnostic task monitors the difference between consecutive events, and creates corresponding diagnostics. This task categorize observed intervals into OK/WARN/ERROR according to the value ranges passed via constructor arguments

Public Functions Documentation

function RateBoundStatus

Constructs RateBoundstatus, which inherits diagnostic_updater::DiagnosticTask.

inline custom_diagnostic_tasks::RateBoundStatus::RateBoundStatus (
    const rclcpp::Node * parent_node,
    const RateBoundStatusParam & ok_params,
    const RateBoundStatusParam & warn_params,
    const size_t num_frame_transition=1,
    const bool immediate_error_report=true,
    const std::string & name="rate bound check"
) 

Parameters:

• parent_node The node from which clock type and parameters are read.
• ok_params The pair of min/max frequency for the topic rate to be recognized as "OK".
• warn_params The pair of min/max frequency for the topic rate to be recognized as "WARN". These values should have a wider range than ok_params.
• num_frame_transition The number of the successive observations for the status transition. E.g., the status will not be changed from OK to WARN until successive num_frame_transition WARNs are observed.
• immediate_error_report If true (default), errors related to the rate bounds will be reported immediately once observed; otherwise, the hysteresis damping method using num_frame_transition will be adopted
• name The arbitrary string to be assigned for this diagnostic task. This name will not be exposed in the actual published topics.

---

function run

function called every update

inline void custom_diagnostic_tasks::RateBoundStatus::run (
    diagnostic_updater::DiagnosticStatusWrapper & stat
) override

---

function tick

Calculate the frequency of how much this function is called.

inline void custom_diagnostic_tasks::RateBoundStatus::tick () 

---

Protected Attributes Documentation

variable candidate_state_

StateHolder custom_diagnostic_tasks::RateBoundStatus::candidate_state_;

---

variable clock_

std::shared_ptr<rclcpp::Clock> custom_diagnostic_tasks::RateBoundStatus::clock_;

---

variable current_state_

StateHolder custom_diagnostic_tasks::RateBoundStatus::current_state_;

---

variable frequency_

std::optional<double> custom_diagnostic_tasks::RateBoundStatus::frequency_;

---

variable immediate_error_report_

bool custom_diagnostic_tasks::RateBoundStatus::immediate_error_report_;

---

variable lock_

std::mutex custom_diagnostic_tasks::RateBoundStatus::lock_;

---

variable num_frame_transition_

size_t custom_diagnostic_tasks::RateBoundStatus::num_frame_transition_;

---

variable ok_params_

RateBoundStatusParam custom_diagnostic_tasks::RateBoundStatus::ok_params_;

---

variable previous_frame_timestamp_

std::optional<double> custom_diagnostic_tasks::RateBoundStatus::previous_frame_timestamp_;

---

variable warn_params_

RateBoundStatusParam custom_diagnostic_tasks::RateBoundStatus::warn_params_;

---

variable zero_seen_

bool custom_diagnostic_tasks::RateBoundStatus::zero_seen_;

---

Protected Functions Documentation

function get_now

inline double custom_diagnostic_tasks::RateBoundStatus::get_now () 

---

Protected Static Functions Documentation

function get_level

static inline unsigned char custom_diagnostic_tasks::RateBoundStatus::get_level (
    const StateHolder & state
) 

---

function get_level_string

static inline std::string custom_diagnostic_tasks::RateBoundStatus::get_level_string (
    unsigned char level
) 

---

function get_msg

static inline std::string custom_diagnostic_tasks::RateBoundStatus::get_msg (
    const StateHolder & state
) 

---

function get_num_observations

static inline size_t custom_diagnostic_tasks::RateBoundStatus::get_num_observations (
    const StateHolder & state
) 

---

---

The documentation for this class was generated from the following file nebula_ros/include/nebula_ros/common/diagnostics/rate_bound_status.hpp