ark::perf::PerfEventCollectorStage

Defined in header “ark/perf/stages/perf_event_collector_stage.hh”.

---

This stage allows you to define various kernel-level counters that you wish to capture and log on the robot. This uses the kernel ‘perf’ API, and depending on the quantity and types of counters subscribed to, may incur a performance hit.

All data that is collected is the ‘raw’ data you must use tools offboard to decode it.

Methods

• PerfEventCollectorStage(std::string name)
  Constructor.

• ~PerfEventCollectorStage()
  Destructor.

• void initialize(pipeline::StageInterface & interface)
  Called from the executor when we are initialized.

• void start()
  Called to start the background collector thread.

• void shutdown()
  Called to stop the background collector thread.