BusLoadMonitor.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __BUS_LOAD_MONITOR_HPP__
#define __BUS_LOAD_MONITOR_HPP__
 
#include <atomic>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/PortWriterBuffer.h>
 
#include "ICanMessageNotifier.hpp"
 
namespace roboticslab
{
 
class OneWayMonitor : public ICanMessageNotifier
{
public:
    bool notifyMessage(const can_message & msg) override;
 
    unsigned int reset();
 
private:
    std::atomic<unsigned int> bits;
};
 
class BusLoadMonitor final : public yarp::os::PeriodicThread,
                             public yarp::os::PortWriterBuffer<yarp::os::Bottle>
{
public:
    BusLoadMonitor(double period) : yarp::os::PeriodicThread(period), bitrate(1.0)
    { }
 
    void setBitrate(unsigned int bitrate)
    { this->bitrate = bitrate; }
 
    ICanMessageNotifier * getReadMonitor()
    { return &readMonitor; }
 
    ICanMessageNotifier * getWriteMonitor()
    { return &writeMonitor; }
 
protected:
    void run() override;
 
private:
    unsigned int bitrate;
 
    OneWayMonitor readMonitor;
    OneWayMonitor writeMonitor;
};
 
} // namespace roboticslab
 
#endif // __BUS_LOAD_MONITOR_HPP__