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=false, const bool immediate_relax_state=true, const std::string & name="rate bound check") Constructs RateBoundStatus , which inherits diagnostic_updater::DiagnosticTask.
bool	is_ok (double observation)
bool	is_warn (double observation)
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
std::shared_ptr< rclcpp::Clock >	clock_
std::optional< double >	frequency_
HysteresisStateMachine	hysteresis_state_machine_
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
std::string	generate_msg (const DiagnosticStatus_t & 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=false,
    const bool immediate_relax_state=true,
    const std::string & name="rate bound check"
) 

Parameters:

• parent_node The node from which 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, 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.

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function is_ok

inline bool custom_diagnostic_tasks::RateBoundStatus::is_ok (
    double observation
) 

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function is_warn

inline bool custom_diagnostic_tasks::RateBoundStatus::is_warn (
    double observation
) 

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function run

function called every update

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

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function tick

Calculate the frequency of how much this function is called.

inline void custom_diagnostic_tasks::RateBoundStatus::tick () 

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Protected Attributes Documentation

variable clock_

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

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variable frequency_

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

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variable hysteresis_state_machine_

HysteresisStateMachine custom_diagnostic_tasks::RateBoundStatus::hysteresis_state_machine_;

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variable lock_

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

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variable num_frame_transition_

size_t custom_diagnostic_tasks::RateBoundStatus::num_frame_transition_;

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variable ok_params_

RateBoundStatusParam custom_diagnostic_tasks::RateBoundStatus::ok_params_;

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variable previous_frame_timestamp_

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

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variable warn_params_

RateBoundStatusParam custom_diagnostic_tasks::RateBoundStatus::warn_params_;

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variable zero_seen_

bool custom_diagnostic_tasks::RateBoundStatus::zero_seen_;

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Protected Functions Documentation

function get_now

inline double custom_diagnostic_tasks::RateBoundStatus::get_now () 

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Protected Static Functions Documentation

function generate_msg

static inline std::string custom_diagnostic_tasks::RateBoundStatus::generate_msg (
    const DiagnosticStatus_t & state
) 

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