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topic_statistics_collector.hpp
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topic_statistics_collector.hpp
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// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef TOPIC_STATISTICS_COLLECTOR__TOPIC_STATISTICS_COLLECTOR_HPP_
#define TOPIC_STATISTICS_COLLECTOR__TOPIC_STATISTICS_COLLECTOR_HPP_
#include <chrono>
#include <string>
#include "rcl/time.h"
#include "collector/collector.hpp"
namespace topic_statistics_collector
{
/**
* Interface to collect and perform measurements for ROS2 topic statistics.
*
* @tparam T the ROS2 message type to collect
*/
template<typename T>
class TopicStatisticsCollector : public collector::Collector
{
public:
TopicStatisticsCollector() = default;
virtual ~TopicStatisticsCollector() = default;
/**
* Handle receiving a single message of type T.
*
* @tparam T the ROS2 message type to collect
* @param nanoseconds the time the message was received. Any metrics using this time assumes the
* following 1). the time provided is strictly monotonic 2). the time provided uses the same source
* as time obtained from the message header.
*/
virtual void OnMessageReceived(
const T & received_message,
const rcl_time_point_value_t now_nanoseconds) = 0;
};
} // namespace topic_statistics_collector
#endif // TOPIC_STATISTICS_COLLECTOR__TOPIC_STATISTICS_COLLECTOR_HPP_