Method and apparatus for monitoring a message transmission frequency in a robot operating system

An apparatus for monitoring a message transmission frequency in a robot operating system to reduce program debugging cost or improve monitoring efficiency, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• writing to-be-transmitted messages into a pre-allocated memory;
• obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list;
• determining a message transmission frequency within a preset time interval based on the time points in the time point list;
• and
• comparing the message transmission frequency with a preset message transmission frequency threshold, and generating monitoring information based on a comparing result,
• wherein the determining the message transmission frequency within the preset time interval based on the time points in the time point list comprises:
• counting a number of the time points in the time point list within the preset time interval, and determining the number of the time points as a message transmission number;
• and
• determining the message transmission frequency based on the message transmission number and the time points in the time point list,
• the determining the message transmission frequency based on the message transmission number and the time points in the time point list comprises:
• retrieving an earliest time point within the preset time interval from the time point list as a first message transmission time point;
• retrieving a latest time point within the preset time interval from the time point list as a last message transmission time point;
• and
• calculating the message transmission frequency in an equation of:
• f
• =
• n
• -
• 1
• T
• n
• -
• T
• 1
• ,
• where T1 represents the first message transmission time point, Tn represents the last message transmission time point, n represents the message transmission number, wherein n is a positive integer greater than or equal to 2, and f represents the message transmission frequency.

A non-transitory computer-readable storage medium storing a computer program, the computer program when executed by one or more processors, causes the one or more processors to perform operations, the operations comprising:

• writing to-be-transmitted messages into a pre-allocated memory;
• obtaining time points when the to-be-transmitted messages are written into the memory, and recording the time points in a preset time point list;
• determining a message transmission frequency within a preset time interval based on the time points in the time point list;
• comparing the message transmission frequency with a preset message transmission frequency threshold;
• and
• generating monitoring information based on a comparing result,
• wherein the determining the message transmission frequency within the preset time interval based on the time points in the time point list comprises:
• counting a number of the time points in the time point list within the preset time interval, and determining the number of the time points as a message transmission number;
• and
• determining the message transmission frequency based on the message transmission number and the time points in the time point list,
• the determining the message transmission frequency based on the message transmission number and the time points in the time point list comprises:
• retrieving an earliest time point within the preset time interval from the time point list as a first message transmission time point;
• retrieving a latest time point within the preset time interval from the time point list as a last message transmission time point;
• and
• calculating the message transmission frequency in an equation of:
• f
• =
• n
• -
• 1
• T
• n
• -
• T
• 1
• ,
• where T1 represents the first message transmission time point, Tn represents the last message transmission time point, n represents the message transmission number, wherein n is a positive integer greater than or equal to 2, and f represents the message transmission frequency.