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evol(metrics): real network delay #16

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evol(metrics): real network delay #16

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18 changes: 9 additions & 9 deletions src/Services/ros/handlers/Camera.handler.ts
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
import ROSLIB from "roslib";
import { RosBridgeService } from "../ros.service.ts";
import { logger } from "../../../Utils/logger.utils.ts";

export class CameraHandler {
private static instance: CameraHandler;
Expand All @@ -12,6 +11,7 @@ export class CameraHandler {
private fps = 0;
private frameCount = 0;
private fpsStartTime = 0;
private lastMessageTime = 0;

private constructor() {
this.unsubscribeFromStatus = RosBridgeService.getInstance().onStatusChange((status) => {
Expand Down Expand Up @@ -58,19 +58,19 @@ export class CameraHandler {
ros: this.ros,
name: topicName,
messageType: messageType,
queue_length: 1,
throttle_rate: 0,
});

this.imageTopic.subscribe((message: any) => {
const now = Date.now();
if (now - this.lastFrameTime < this.frameInterval) {
return; // Skip frame if it's too soon
}

// Calculate latency
this.frameDelay = this.lastFrameTime > 0 ? now - this.lastFrameTime : 0;
this.lastFrameTime = now;
// Calculate network delay using ROS message timestamp
if (message.header && message.header.stamp) {
const messageTime = message.header.stamp.secs * 1000 + Math.floor(message.header.stamp.nanosecs / 1000000);
this.frameDelay = this.lastMessageTime > 0 ? messageTime - this.lastMessageTime : 0;
this.lastMessageTime = messageTime;
} else {
throw new Error('Camera message missing timestamp header. Ensure camera node publishes with proper header.stamp.');
}

// Calculate FPS
if (this.fpsStartTime === 0) {
Expand Down