Factory and setup improvements

include/ur_modern_driver/event_counter.h

@@ -0,0 +1,86 @@
+#pragma once
+
+#include <cstdlib>
+#include <chrono>
+#include "ur_modern_driver/log.h"
+#include "ur_modern_driver/ur/consumer.h"
+
+
+class EventCounter : public URRTPacketConsumer
+{
+private:
+  typedef std::chrono::high_resolution_clock Clock;
+  Clock::time_point events_[250];
+  size_t idx_ = 0;
+
+
+  Clock::time_point last_;
+
+public:
+  void trigger()
+  {
+    //auto now = Clock::now();
+    //LOG_INFO("Time diff: %d ms", std::chrono::duration_cast<std::chrono::microseconds>(now - last_));
+    //last_ = now;
+    //return;
+
+    events_[idx_] = Clock::now();
+    idx_ += 1;
+
+    if(idx_ > 250)
+    {
+      std::chrono::time_point<std::chrono::high_resolution_clock> t_min =
+          std::chrono::time_point<std::chrono::high_resolution_clock>::max();     
+      std::chrono::time_point<std::chrono::high_resolution_clock> t_max =
+          std::chrono::time_point<std::chrono::high_resolution_clock>::min();
+          
+      for(auto const& e : events_)
+      {
+        if(e < t_min)
+          t_min = e;
+        if(e > t_max)
+          t_max = e;
+      }
+
+      auto diff = t_max - t_min;
+      auto secs = std::chrono::duration_cast<std::chrono::seconds>(diff).count();
+      auto ms = std::chrono::duration_cast<std::chrono::microseconds>(diff).count();
+      std::chrono::duration<double> test(t_max - t_min);
+      LOG_INFO("Recieved 250 messages at %f Hz", (250.0/test.count()));
+      idx_ = 0;
+    }
+  }
+
+public:
+  bool consume(RTState_V1_6__7& state)
+  {
+    trigger();
+    return true;
+  }
+  bool consume(RTState_V1_8& state)
+  {
+    trigger();
+    return true;
+  }
+  bool consume(RTState_V3_0__1& state)
+  {
+    trigger();
+    return true;
+  }
+  bool consume(RTState_V3_2__3& state)
+  {
+    trigger();
+    return true;
+  }
+
+  void setupConsumer()
+  {
+    last_ = Clock::now();
+  }
+  void teardownConsumer()
+  {
+  }
+  void stopConsumer()
+  {
+  }
+};