mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 10:00:48 +02:00
106 lines
2.5 KiB
C++
106 lines
2.5 KiB
C++
/*
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* Copyright 2017, 2018 Simon Rasmussen (refactor)
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*
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* Copyright 2015, 2016 Thomas Timm Andersen (original version)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <chrono>
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#include <cstdlib>
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#include "ur_rtde_driver/log.h"
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#include "ur_rtde_driver/ur/consumer.h"
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namespace ur_driver
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{
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class EventCounter : public URRTPacketConsumer
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{
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private:
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typedef std::chrono::high_resolution_clock Clock;
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Clock::time_point events_[250];
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size_t idx_ = 0;
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Clock::time_point last_;
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public:
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void trigger()
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{
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// auto now = Clock::now();
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// LOG_INFO("Time diff: %d ms", std::chrono::duration_cast<std::chrono::microseconds>(now - last_));
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// last_ = now;
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// return;
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events_[idx_] = Clock::now();
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idx_ += 1;
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if (idx_ > 250)
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{
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std::chrono::time_point<std::chrono::high_resolution_clock> t_min =
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std::chrono::time_point<std::chrono::high_resolution_clock>::max();
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std::chrono::time_point<std::chrono::high_resolution_clock> t_max =
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std::chrono::time_point<std::chrono::high_resolution_clock>::min();
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for (auto const& e : events_)
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{
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if (e < t_min)
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t_min = e;
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if (e > t_max)
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t_max = e;
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}
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auto diff = t_max - t_min;
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auto secs = std::chrono::duration_cast<std::chrono::seconds>(diff).count();
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auto ms = std::chrono::duration_cast<std::chrono::microseconds>(diff).count();
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std::chrono::duration<double> test(t_max - t_min);
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LOG_INFO("Recieved 250 messages at %f Hz", (250.0 / test.count()));
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idx_ = 0;
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}
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}
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public:
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bool consume(RTState_V1_6__7& state)
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{
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trigger();
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return true;
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}
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bool consume(RTState_V1_8& state)
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{
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trigger();
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return true;
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}
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bool consume(RTState_V3_0__1& state)
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{
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trigger();
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return true;
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}
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bool consume(RTState_V3_2__3& state)
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{
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trigger();
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return true;
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}
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void setupConsumer()
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{
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last_ = Clock::now();
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}
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void teardownConsumer()
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{
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}
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void stopConsumer()
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{
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}
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};
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} // namespace ur_driver
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