Component of the Event Detector responsible for identifying relevant data. More...

#include <AnalysisManager.hpp>

Public Member Functions
	AnalysisManager (EventDetector *ed, std::shared_ptr< BufferManager > buffer, const double default_period)
	Creates a new AnalysisManager with pre-defined rules.

void	toggleAnalysis (const bool enable_periodic, const bool enable_service)
	Toggle analysis on/off for all rules.

Protected Member Functions
void	loadRules ()
	Loads all enabled rules into the manager.

void	loadRule (const std::string &rule_name)
	Loads a rule into the manager.

void	togglePeriodicAnalysis (const std::string &rule_name, const bool enable)
	Toggle periodic analysis for a specific rule.

void	toggleAnalysisByService (const std::string &rule_name, const bool enable)
	Toggle service-based analysis for a specific rule.

bool	isRuleEnabled (const std::string &rule_name)
	Queries the parameter server to determine whether a rule is enabled.

double	loadRuleAnalysisPeriod (const std::string &rule_name)
	Loads analysis interval for a specific rule from the parameter server.

void	runAnalysis (const std::string &rule_name)
	Evaluates a single rule.

Protected Attributes
EventDetector *	ed_
	EventDetector node.

std::shared_ptr< BufferManager >	buffer_
	BufferManager component.

std::shared_ptr< pluginlib::ClassLoader< AnalysisRule > >	rule_loader_
	pluginlib class loader for AnalysisRule plugins

double	default_period_ = 1.0
	default analysis interval

std::map< std::string, rclcpp::TimerBase::SharedPtr >	analysis_timers_
	ROS timers triggering rule analysis, mapped to rule name.

std::map< std::string, std::shared_ptr< AnalysisRule > >	rules_
	pre-defined rules to evaluate, mapped to rule name

std::map< std::string, std::shared_ptr< rclcpp::Service< std_srvs::srv::Empty > > >	trigger_services_
	services that can be used to trigger rule evaluation, mapped to rule name

Detailed Description

Component of the Event Detector responsible for identifying relevant data.

The AnalysisManager analyzes the data buffered in the BufferManager. It is responsible for detecting data-based events. To this end, it evaluates pre-defined rules, implemented by plugins.

Definition at line 50 of file AnalysisManager.hpp.

Constructor & Destructor Documentation

◆ AnalysisManager()

event_detector::AnalysisManager::AnalysisManager	(	EventDetector *	ed,
		std::shared_ptr< BufferManager >	buffer,
		const double	default_period
	)

Creates a new AnalysisManager with pre-defined rules.

Parameters

ed	EventDetector node
buffer	BufferManager instance
default_period	default analysis interval

Member Function Documentation

◆ isRuleEnabled()

bool event_detector::AnalysisManager::isRuleEnabled ( const std::string & rule_name )

protected

Queries the parameter server to determine whether a rule is enabled.

Parameters

rule_name name of the rule

Returns: bool whether rule is enabled

◆ loadRule()

void event_detector::AnalysisManager::loadRule ( const std::string & rule_name )

protected

Loads a rule into the manager.

First, checks if a rule is enabled by querying the parameter server. Then creates and configures the rule by passing parameters to the rule. Last, sets up a periodic callback to run rule evaluation.

Parameters

rule_name rule name

◆ loadRuleAnalysisPeriod()

double event_detector::AnalysisManager::loadRuleAnalysisPeriod ( const std::string & rule_name )

protected

Loads analysis interval for a specific rule from the parameter server.

Parameters

rule_name name of the rule

Returns: double analysis interval

◆ loadRules()

void event_detector::AnalysisManager::loadRules ( )

protected

Loads all enabled rules into the manager.

First checks if a rule is enabled by querying the parameter server. Then creates and configures the rule by passing parameters to the rule.

◆ runAnalysis()

void event_detector::AnalysisManager::runAnalysis ( const std::string & rule_name )

protected

Evaluates a single rule.

The rule is evaluted, data is requested, and then this data is passed to the DatabaseInterface for insertion into the database.

Parameters

rule_name rule name

◆ toggleAnalysis()

void event_detector::AnalysisManager::toggleAnalysis	(	const bool	enable_periodic,
		const bool	enable_service
	)

Toggle analysis on/off for all rules.

Parameters

enable_periodic	whether to enable periodic analysis
enable_service	whether to enable service-based analysis

◆ toggleAnalysisByService()

void event_detector::AnalysisManager::toggleAnalysisByService	(	const std::string &	rule_name,
		const bool	enable
	)

protected

Toggle service-based analysis for a specific rule.

Parameters

rule_name	rule name
enable	whether to enable service-based analysis

◆ togglePeriodicAnalysis()

void event_detector::AnalysisManager::togglePeriodicAnalysis	(	const std::string &	rule_name,
		const bool	enable
	)

protected

Toggle periodic analysis for a specific rule.

Parameters

rule_name	rule name
enable	whether to enable periodic analysis

Member Data Documentation

◆ analysis_timers_

std::map<std::string, rclcpp::TimerBase::SharedPtr> event_detector::AnalysisManager::analysis_timers_

protected

ROS timers triggering rule analysis, mapped to rule name.

Definition at line 156 of file AnalysisManager.hpp.

◆ buffer_

std::shared_ptr<BufferManager> event_detector::AnalysisManager::buffer_

protected

BufferManager component.

Definition at line 141 of file AnalysisManager.hpp.

◆ default_period_

double event_detector::AnalysisManager::default_period_ = 1.0

protected

default analysis interval

Definition at line 151 of file AnalysisManager.hpp.

◆ ed_

EventDetector* event_detector::AnalysisManager::ed_

protected

EventDetector node.

Definition at line 136 of file AnalysisManager.hpp.

◆ rule_loader_

std::shared_ptr<pluginlib::ClassLoader<AnalysisRule> > event_detector::AnalysisManager::rule_loader_

protected

pluginlib class loader for AnalysisRule plugins

Definition at line 146 of file AnalysisManager.hpp.

◆ rules_

std::map<std::string, std::shared_ptr<AnalysisRule> > event_detector::AnalysisManager::rules_

protected

pre-defined rules to evaluate, mapped to rule name

Definition at line 161 of file AnalysisManager.hpp.

◆ trigger_services_

std::map<std::string, std::shared_ptr<rclcpp::Service<std_srvs::srv::Empty> > > event_detector::AnalysisManager::trigger_services_

protected

services that can be used to trigger rule evaluation, mapped to rule name

Definition at line 166 of file AnalysisManager.hpp.

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

event_detector/include/event_detector/AnalysisManager.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AnalysisManager()

Member Function Documentation

◆ isRuleEnabled()

◆ loadRule()

◆ loadRuleAnalysisPeriod()

◆ loadRules()

◆ runAnalysis()

◆ toggleAnalysis()

◆ toggleAnalysisByService()

◆ togglePeriodicAnalysis()

Member Data Documentation

◆ analysis_timers_

◆ buffer_

◆ default_period_

◆ ed_

◆ rule_loader_

◆ rules_

◆ trigger_services_