Topic Statistics: Add SubscriptionTopicStatistics class (#1050)
* Add SubscriberTopicStatistics class Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Add SubscriberTopicStatistics Test Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Modify constructor to allow a node to create necessary components Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix docstring style Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Remove SetPublisherTimer method Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Change naming style to match rclcpp Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address style issues Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix rebase issue Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Use rclcpp:Time Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Remove unnecessary check for null publisher timer Move anonymous namespace function to private class method Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Update message dependency Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Revert constructor changes Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
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// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__TOPIC_STATISTICS__SUBSCRIPTION_TOPIC_STATISTICS_HPP_
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#define RCLCPP__TOPIC_STATISTICS__SUBSCRIPTION_TOPIC_STATISTICS_HPP_
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include "libstatistics_collector/collector/generate_statistics_message.hpp"
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#include "libstatistics_collector/moving_average_statistics/types.hpp"
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#include "libstatistics_collector/topic_statistics_collector/constants.hpp"
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#include "libstatistics_collector/topic_statistics_collector/received_message_period.hpp"
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#include "rcl/time.h"
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#include "rclcpp/time.hpp"
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#include "rclcpp/publisher.hpp"
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#include "rclcpp/timer.hpp"
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#include "statistics_msgs/msg/metrics_message.hpp"
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namespace rclcpp
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{
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namespace topic_statistics
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{
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constexpr const char kDefaultPublishTopicName[]{"/statistics"};
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constexpr const std::chrono::milliseconds kDefaultPublishingPeriod{std::chrono::seconds(1)};
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using libstatistics_collector::collector::GenerateStatisticMessage;
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using statistics_msgs::msg::MetricsMessage;
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using libstatistics_collector::moving_average_statistics::StatisticData;
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/**
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* Class used to collect, measure, and publish topic statistics data. Current statistics
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* supported for subscribers are received message age and received message period.
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*
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* \tparam CallbackMessageT the subscribed message type
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*/
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template<typename CallbackMessageT>
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class SubscriptionTopicStatistics
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{
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using TopicStatsCollector =
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libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector<
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CallbackMessageT>;
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using ReceivedMessagePeriod =
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libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector<
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CallbackMessageT>;
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public:
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/// Construct a SubscriptionTopicStatistics object.
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/**
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* This object wraps utilities, defined in libstatistics_collector, to collect,
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* measure, and publish topic statistics data. This throws an invalid_argument
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* if the input publisher is null.
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*
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* \param node_name the name of the node, which created this instance, in order to denote
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* topic source
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* \param publisher instance constructed by the node in order to publish statistics data.
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* This class owns the publisher.
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*/
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SubscriptionTopicStatistics(
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const std::string & node_name,
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rclcpp::Publisher<statistics_msgs::msg::MetricsMessage>::SharedPtr publisher)
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: node_name_(node_name),
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publisher_(std::move(publisher))
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{
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// TODO(dbbonnie): ros-tooling/aws-roadmap/issues/226, received message age
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if (nullptr == publisher_) {
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throw std::invalid_argument("publisher pointer is nullptr");
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}
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bring_up();
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}
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virtual ~SubscriptionTopicStatistics()
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{
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tear_down();
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}
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/// Handle a message received by the subscription to collect statistics.
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/**
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* \param received_message the message received by the subscription
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* \param now_nanoseconds current time in nanoseconds
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*/
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virtual void handle_message(
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const CallbackMessageT & received_message,
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const rclcpp::Time now_nanoseconds) const
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{
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for (const auto & collector : subscriber_statistics_collectors_) {
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collector->OnMessageReceived(received_message, now_nanoseconds.nanoseconds());
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}
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}
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/// Set the timer used to publish statistics messages.
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/**
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* \param measurement_timer the timer to fire the publisher, created by the node
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*/
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void set_publisher_timer(rclcpp::TimerBase::SharedPtr publisher_timer)
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{
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publisher_timer_ = publisher_timer;
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}
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/// Publish a populated MetricsStatisticsMessage.
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virtual void publish_message()
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{
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rclcpp::Time window_end{get_current_nanoseconds_since_epoch()};
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for (auto & collector : subscriber_statistics_collectors_) {
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const auto collected_stats = collector->GetStatisticsResults();
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auto message = libstatistics_collector::collector::GenerateStatisticMessage(
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node_name_,
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collector->GetMetricName(),
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collector->GetMetricUnit(),
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window_start_,
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window_end,
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collected_stats);
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publisher_->publish(message);
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}
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window_start_ = window_end;
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}
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protected:
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/// Return a vector of all the currently collected data.
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/**
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* \return a vector of all the collected data
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*/
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std::vector<StatisticData> get_current_collector_data() const
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{
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std::vector<StatisticData> data;
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for (const auto & collector : subscriber_statistics_collectors_) {
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data.push_back(collector->GetStatisticsResults());
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}
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return data;
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}
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private:
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/// Construct and start all collectors and set window_start_.
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void bring_up()
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{
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auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
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received_message_period->Start();
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subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
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window_start_ = rclcpp::Time(get_current_nanoseconds_since_epoch());
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}
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/// Stop all collectors, clear measurements, stop publishing timer, and reset publisher.
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void tear_down()
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{
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for (auto & collector : subscriber_statistics_collectors_) {
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collector->Stop();
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}
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subscriber_statistics_collectors_.clear();
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if (publisher_timer_) {
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publisher_timer_->cancel();
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publisher_timer_.reset();
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}
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publisher_.reset();
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}
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/// Return the current nanoseconds (count) since epoch.
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/**
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* \return the current nanoseconds (count) since epoch
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*/
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int64_t get_current_nanoseconds_since_epoch() const
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{
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const auto now = std::chrono::system_clock::now();
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return std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
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}
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/// Collection of statistics collectors
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std::vector<std::unique_ptr<TopicStatsCollector>> subscriber_statistics_collectors_{};
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/// Node name used to generate topic statistics messages to be published
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const std::string node_name_;
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/// Publisher, created by the node, used to publish topic statistics messages
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rclcpp::Publisher<statistics_msgs::msg::MetricsMessage>::SharedPtr publisher_;
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/// Timer which fires the publisher
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rclcpp::TimerBase::SharedPtr publisher_timer_;
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/// The start of the collection window, used in the published topic statistics message
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rclcpp::Time window_start_;
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};
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} // namespace topic_statistics
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} // namespace rclcpp
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#endif // RCLCPP__TOPIC_STATISTICS__SUBSCRIPTION_TOPIC_STATISTICS_HPP_
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