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Reset moving average #1984

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63de32d
Add call timeout
Oct 22, 2024
26c79d3
fix cherrypick
Oct 22, 2024
be335ed
Merge branch 'master' into master
tonynajjar Nov 6, 2024
5735f0d
Add docs
tonynajjar Nov 6, 2024
620e2ac
Update controller_manager/doc/userdoc.rst
Nov 6, 2024
274880f
Merge remote-tracking branch 'ros2/master'
tonynajjar Nov 22, 2024
a495547
fix order
tonynajjar Nov 22, 2024
b537260
rename
tonynajjar Nov 25, 2024
f512643
Merge branch 'master' into master
tonynajjar Nov 25, 2024
22d383c
Update controller_manager/doc/userdoc.rst
Nov 25, 2024
87ce781
Merge branch 'ros-controls:master' into master
Nov 26, 2024
2c80244
Reset moving average
tonynajjar Jan 7, 2025
5135ccd
Merge branch 'ros-controls:master' into master
Jan 7, 2025
5023884
Merge remote-tracking branch 'angsa/master' into add-window-to-moving…
tonynajjar Jan 7, 2025
b3ac890
Add window_size param
tonynajjar Jan 9, 2025
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5 changes: 5 additions & 0 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2322,6 +2322,10 @@ std::vector<std::string> ControllerManager::get_controller_names()

void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (periodicity_stats_.GetCount() >= 100)
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@tonynajjar tonynajjar Jan 7, 2025

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the window size could be made configurable

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@bmagyar bmagyar Jan 7, 2025

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good point. Could you please add a param for that? I think 100 is a good default value for resetting

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@saikishor saikishor Jan 7, 2025

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I think it is better to leave it to the user to define it. If not defined, let it accumulate from the beginning.

{
periodicity_stats_.Reset();
}
periodicity_stats_.AddMeasurement(1.0 / period.seconds());
auto [ok, failed_hardware_names] = resource_manager_->read(time, period);

Expand Down Expand Up @@ -3347,6 +3351,7 @@ void ControllerManager::controller_manager_diagnostic_callback(
const std::string periodicity_stat_name = "periodicity";
const auto cm_stats = periodicity_stats_.GetStatistics();
stat.add("update_rate", std::to_string(get_update_rate()));
stat.add(periodicity_stat_name + ".sample_count", std::to_string(cm_stats.sample_count));
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@saikishor saikishor Jan 9, 2025

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I don't know if this is an intuitive diagnostic for the user, moreover it tend to be a constant rather than a varying value

stat.add(periodicity_stat_name + ".average", std::to_string(cm_stats.average));
stat.add(
periodicity_stat_name + ".standard_deviation", std::to_string(cm_stats.standard_deviation));
Expand Down
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