src/FastResearchInterfaceLibrary/GetUDPCommunicationData.cpp

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#include <FastResearchInterface.h>
#include <pthread.h>
#include <friComm.h>


// ****************************************************************
// GetFRICycleTime()
//
float FastResearchInterface::GetFRICycleTime(void)
{
    float       ReturnValue     =   0.0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.desiredCmdSampleTime;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetCommunicationTimingQuality()
//
int FastResearchInterface::GetCommunicationTimingQuality(void)
{
    int     ReturnValue     =   0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.quality;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetUDPAnswerRate()
//
float FastResearchInterface::GetUDPAnswerRate(void)
{
    float       ReturnValue     =   0.0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.stat.answerRate;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetUDPLatencyInSeconds()
//
float FastResearchInterface::GetUDPLatencyInSeconds(void)
{
    float       ReturnValue     =   0.0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.stat.latency;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetUDPJitterInSeconds()
//
float FastResearchInterface::GetUDPJitterInSeconds(void)
{
    float       ReturnValue     =   0.0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.stat.jitter;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetUDPPackageLossRate()
//
float FastResearchInterface::GetUDPPackageLossRate(void)
{
    float       ReturnValue     =   0.0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.stat.missRate;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetNumberOfMissedUDPPackages()
//
unsigned int FastResearchInterface::GetNumberOfMissedUDPPackages(void)
{
    unsigned int        ReturnValue     =   0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.intf.stat.missCounter;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}


// ****************************************************************
// GetValueOfKRCSequenceCounter()
//
unsigned int FastResearchInterface::GetValueOfKRCSequenceCounter(void)
{
    unsigned int        ReturnValue     =   0;

    pthread_mutex_lock(&(this->MutexForControlData));
    ReturnValue =   this->ReadData.head.sendSeqCount;
    pthread_mutex_unlock(&(this->MutexForControlData));

    return(ReturnValue);
}