/usr/include/ros/statistics.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
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* Copyright (C) 2013-2014, Dariush Forouher
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_STATISTICS_H
#define ROSCPP_STATISTICS_H
#include "forwards.h"
#include "poll_set.h"
#include "common.h"
#include "publisher.h"
#include <ros/time.h>
#include "ros/subscription_callback_helper.h"
#include <map>
namespace ros
{
/**
* \brief This class logs statistics data about a ROS connection and
* publishs them periodically on a common topic.
*
* It provides a callback() function that has to be called everytime
* a new message arrives on a topic.
*/
class ROSCPP_DECL StatisticsLogger
{
public:
/**
* Constructior
*/
StatisticsLogger();
/**
* Actual initialization. Must be called before the first call to callback()
*/
void init(const SubscriptionCallbackHelperPtr& helper);
/**
* Callback function. Must be called for every message received.
*/
void callback(const boost::shared_ptr<M_string>& connection_header, const std::string& topic, const std::string& callerid, const SerializedMessage& m, const uint64_t& bytes_sent, const ros::Time& received_time, bool dropped);
private:
// these are hard constrains
int max_window;
int min_window;
// these are soft constrains
int max_elements;
int min_elements;
bool enable_statistics;
// remember, if this message type has a header
bool hasHeader_;
// frequency to publish statistics
double pub_frequency_;
// publisher for statistics data
ros::Publisher pub_;
struct StatData {
// last time, we published /statistics data
ros::Time last_publish;
// arrival times of all messages within the current window
std::list<ros::Time> arrival_time_list;
// age of all messages within the current window (if available)
std::list<ros::Duration> age_list;
// number of dropped messages
uint64_t dropped_msgs;
// latest sequence number observered (if available)
uint64_t last_seq;
// latest total traffic volume observed
uint64_t stat_bytes_last;
};
// storage for statistics data
std::map<std::string, struct StatData> map_;
};
}
#endif
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