78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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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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*/
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#ifndef CARTOGRAPHER_ROS_METRICS_INTERNAL_GAUGE_H
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#define CARTOGRAPHER_ROS_METRICS_INTERNAL_GAUGE_H
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#include <atomic>
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#include <map>
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#include <string>
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#include "cartographer/metrics/gauge.h"
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#include "cartographer_ros_msgs/Metric.h"
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namespace cartographer_ros {
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namespace metrics {
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class Gauge : public ::cartographer::metrics::Gauge {
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public:
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explicit Gauge(const std::map<std::string, std::string>& labels)
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: labels_(labels) {}
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void Decrement(const double by_value) override { Add(-1. * by_value); }
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void Decrement() override { Decrement(1.); }
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void Increment(const double by_value) override { Add(by_value); }
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void Increment() override { Increment(1.); }
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void Set(double value) override {
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double expected = value_.load();
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while (!value_.compare_exchange_weak(expected, value)) {
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;
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}
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}
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double Value() const { return value_.load(); }
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cartographer_ros_msgs::Metric ToRosMessage() {
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cartographer_ros_msgs::Metric msg;
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msg.type = cartographer_ros_msgs::Metric::TYPE_GAUGE;
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for (const auto& label : labels_) {
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cartographer_ros_msgs::MetricLabel label_msg;
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label_msg.key = label.first;
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label_msg.value = label.second;
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msg.labels.push_back(label_msg);
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}
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msg.value = Value();
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return msg;
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}
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private:
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void Add(const double value) {
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double current = Value();
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Set(current + value);
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}
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const std::map<std::string, std::string> labels_;
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std::atomic<double> value_{0.};
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};
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} // namespace metrics
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} // namespace cartographer_ros
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#endif // CARTOGRAPHER_ROS_METRICS_INTERNAL_GAUGE_H
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