#include <rclcpp/topic_statistics/subscription_topic_statistics.hpp>

Public Member Functions
	SubscriptionTopicStatistics (const std::string &node_name, rclcpp::Publisher< statistics_msgs::msg::MetricsMessage >::SharedPtr publisher)
	Construct a SubscriptionTopicStatistics object. More...

virtual void	handle_message (const rmw_message_info_t &message_info, const rclcpp::Time now_nanoseconds) const
	Handle a message received by the subscription to collect statistics. More...

void	set_publisher_timer (rclcpp::TimerBase::SharedPtr publisher_timer)
	Set the timer used to publish statistics messages. More...

virtual void	publish_message_and_reset_measurements ()
	Publish a populated MetricsStatisticsMessage. More...

Protected Member Functions
std::vector< StatisticData >	get_current_collector_data () const
	Return a vector of all the currently collected data. More...

Detailed Description

Class used to collect, measure, and publish topic statistics data. Current statistics supported for subscribers are received message age and received message period.

Definition at line 52 of file subscription_topic_statistics.hpp.

Constructor & Destructor Documentation

◆ SubscriptionTopicStatistics()

rclcpp::topic_statistics::SubscriptionTopicStatistics::SubscriptionTopicStatistics	(	const std::string &	node_name,
		rclcpp::Publisher< statistics_msgs::msg::MetricsMessage >::SharedPtr	publisher
	)

inline

Construct a SubscriptionTopicStatistics object.

This object wraps utilities, defined in libstatistics_collector, to collect, measure, and publish topic statistics data. This throws an invalid_argument if the input publisher is null.

Parameters

node_name	the name of the node, which created this instance, in order to denote topic source
publisher	instance constructed by the node in order to publish statistics data. This class owns the publisher.

Exceptions

std::invalid_argument if publisher pointer is nullptr

Definition at line 71 of file subscription_topic_statistics.hpp.

Member Function Documentation

◆ get_current_collector_data()

std::vector<StatisticData> rclcpp::topic_statistics::SubscriptionTopicStatistics::get_current_collector_data ( ) const

inlineprotected

Return a vector of all the currently collected data.

This method acquires a lock to prevent race conditions to collectors list.

Returns: a vector of all the collected data

Definition at line 156 of file subscription_topic_statistics.hpp.

◆ handle_message()

virtual void rclcpp::topic_statistics::SubscriptionTopicStatistics::handle_message	(	const rmw_message_info_t &	message_info,
		const rclcpp::Time	now_nanoseconds
	)		const