IceReportSkipper.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package ArmarX
19  * @author Mirko Waechter( mirko.waechter at kit dot edu)
20  * @date 2017
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 #pragma once
25 
26 #include <Ice/Current.h>
27 #include <IceUtil/Time.h>
28 
29 #include <optional>
30 #include <mutex>
31 #include <map>
32 
33 namespace armarx
34 {
35 
37  {
38  public:
39  IceReportSkipper(float maxFrequency);
40 
41  /**
42  * @brief checks the frequency and returns true if the minimum required time for the frequency has passed.
43  * Usage:
44  \code
45  if(!skipper.checkFrequency())
46  {
47  // skip
48  return;
49  }
50  // do your calculations
51  \endcode
52  * @param c
53  * @param frequency
54  * @return
55  */
56  bool checkFrequency(const Ice::Current& c, const std::optional<float>& frequency = std::nullopt);
57  bool checkFrequency(const std::string& operationName, const std::optional<float>& frequency = std::nullopt);
58 
59  private:
60  struct SkippingData
61  {
62  IceUtil::Time lastTimestamp;
63  float maxFrequency;
64  };
65 
66  std::map<std::string, SkippingData> operationData;
67  float maxFrequency;
68  std::mutex mutex;
69  };
70 
71 } // namespace armarx
72 
armarx::IceReportSkipper::IceReportSkipper
IceReportSkipper(float maxFrequency)
Definition: IceReportSkipper.cpp:32
c
constexpr T c
Definition: UnscentedKalmanFilterTest.cpp:43
armarx::armem::Time
armarx::core::time::DateTime Time
Definition: forward_declarations.h:13
armarx::IceReportSkipper::checkFrequency
bool checkFrequency(const Ice::Current &c, const std::optional< float > &frequency=std::nullopt)
checks the frequency and returns true if the minimum required time for the frequency has passed.
Definition: IceReportSkipper.cpp:37
armarx::IceReportSkipper
Definition: IceReportSkipper.h:36
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28