RtMonitor.hpp

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// Copyright 2026 Intelligent Robotics Lab
//
// 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 EASYNAV_SYSTEM__SAFETY__RTMONITOR_HPP_
#define EASYNAV_SYSTEM__SAFETY__RTMONITOR_HPP_
 
#include <chrono>
#include <cstdint>
#include <optional>
 
namespace easynav::safety
{

class RtMonitor
{
public:
  using Clock = std::chrono::steady_clock;
 
  enum class Status : uint8_t {OK = 0, LATE = 1, ERROR = 2};

  void configure(double period, double max_period_factor, int max_late_cycles);

  void reset();

  Status cycle_started(Clock::time_point now);
 
  [[nodiscard]] Status status() const {return status_;}

  [[nodiscard]] uint64_t late_cycles() const {return late_cycles_;}

  [[nodiscard]] int consecutive_late_cycles() const {return consecutive_late_;}

  [[nodiscard]] double last_period() const {return last_period_;}
 
private:
  double max_period_ {0.0};
  int max_late_cycles_ {1};
 
  std::optional<Clock::time_point> last_start_;
  Status status_ {Status::OK};
  uint64_t late_cycles_ {0};
  int consecutive_late_ {0};
  double last_period_ {0.0};
};
 
}  // namespace easynav::safety
 
#endif  // EASYNAV_SYSTEM__SAFETY__RTMONITOR_HPP_