RtMonitor Class Reference

Detects real-time cycles that start late. More...

#include <RtMonitor.hpp>

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

Public Member Functions
void	configure (double period, double max_period_factor, int max_late_cycles)
	Sets the expected period (s) and the thresholds, and starts over.
int	consecutive_late_cycles () const
	Late cycles in a row, up to now.
Status	cycle_started (Clock::time_point now)
	A cycle starts at now.
double	last_period () const
	Time (s) between the last two cycle starts, 0 if none yet.
uint64_t	late_cycles () const
	Late cycles since the last reset().
void	reset ()
	Starts over (e.g. on activation): the next cycle has no previous one to be late from.
Status	status () const

Detailed Description

Detects real-time cycles that start late.

A cycle is late if it starts more than max_period_factor periods after the previous one. The status is LATE after a late cycle, ERROR after max_late_cycles late cycles in a row, and OK again after a cycle on time.

Member Typedef Documentation

Clock

using Clock = std::chrono::steady_clock

Member Enumeration Documentation

Status

enum class Status : uint8_t

strong

Enumerator
OK
LATE
ERROR

Member Function Documentation

configure()

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

Sets the expected period (s) and the thresholds, and starts over.

consecutive_late_cycles()

int consecutive_late_cycles ( ) const

nodiscard

Late cycles in a row, up to now.

cycle_started()

RtMonitor::Status cycle_started

(

Clock::time_point

now

)

A cycle starts at now.

Returns

The status after it.

last_period()

double last_period ( ) const

nodiscard

Time (s) between the last two cycle starts, 0 if none yet.

late_cycles()

uint64_t late_cycles ( ) const

nodiscard

Late cycles since the last reset().

reset()

void reset

(

)

Starts over (e.g. on activation): the next cycle has no previous one to be late from.

status()

Status status ( ) const

nodiscard

---

The documentation for this class was generated from the following files:

• easynav_system/include/easynav_system/safety/RtMonitor.hpp
• easynav_system/src/easynav_system/safety/RtMonitor.cpp