What the diagnostics mode records and where it writes it. More...

#include <armarx/navigation/platform_controller/Diagnostics.h>

Public Attributes
float	controlDurationSeconds {60.F}
	How much history the 100 Hz ring keeps [s].

int	dumpRequest {0}
	Bumping this asks the controller to write the current episode and begin the next one.

bool	enabled {false}

int	maxTrajectoryRevisions {32}
	How many distinct trajectories one episode may record.

std::string	outputDirectory {"/tmp/armarx-navigation-diagnostics"}

float	rtDurationSeconds {60.F}
	How much history the 1 kHz ring keeps [s]. 60 s is ~5 MB.

Detailed Description

What the diagnostics mode records and where it writes it.

Read once, in the controller's constructor, and never again: the buffers below are sized from it and must not be resized while the real-time thread is writing into them. Turning diagnostics on is therefore a config edit plus a restart of the navigator, which is the right cost for a mode that exists to answer one question.

Definition at line 45 of file Diagnostics.h.

Member Data Documentation

◆ controlDurationSeconds

float controlDurationSeconds {60.F}

How much history the 100 Hz ring keeps [s].

Definition at line 53 of file Diagnostics.h.

◆ dumpRequest

int dumpRequest {0}

Bumping this asks the controller to write the current episode and begin the next one.

The only member of this struct that is read after construction.

Definition at line 63 of file Diagnostics.h.

◆ enabled

bool enabled {false}

Definition at line 47 of file Diagnostics.h.

◆ maxTrajectoryRevisions

int maxTrajectoryRevisions {32}

How many distinct trajectories one episode may record.

The navigator replans during a request, so a dump that kept only the last one would mislabel most of the run.

Definition at line 57 of file Diagnostics.h.

◆ outputDirectory

std::string outputDirectory {"/tmp/armarx-navigation-diagnostics"}

Definition at line 59 of file Diagnostics.h.

◆ rtDurationSeconds

float rtDurationSeconds {60.F}

How much history the 1 kHz ring keeps [s]. 60 s is ~5 MB.

Definition at line 50 of file Diagnostics.h.

The documentation for this struct was generated from the following file:

armarx/navigation/platform_controller/Diagnostics.h

Public Attributes