Initial commit

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Metrics/Counter.cs

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+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+namespace CartographerSharp.Metrics;
+
+/// <summary>
+/// Counter metric for accumulating values.
+/// </summary>
+public abstract class Counter
+{
+    /// <summary>
+    /// Counter instance that does nothing. Safe for use in static initializers.
+    /// </summary>
+    public static Counter Null()
+    {
+        return new NullCounter();
+    }
+
+    /// <summary>
+    /// Increments the counter by 1.
+    /// </summary>
+    public abstract void Increment();
+
+    /// <summary>
+    /// Increments the counter by the specified value.
+    /// </summary>
+    public abstract void Increment(double byValue);
+}
+
+/// <summary>
+/// Null implementation of counter that does nothing.
+/// </summary>
+internal class NullCounter : Counter
+{
+    public override void Increment()
+    {
+        // Do nothing
+    }
+
+    public override void Increment(double byValue)
+    {
+        // Do nothing
+    }
+}

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Metrics/FamilyFactory.cs

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+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+namespace CartographerSharp.Metrics;
+
+/// <summary>
+/// Family of metrics with labels.
+/// </summary>
+public abstract class Family<TMetricType> where TMetricType : class
+{
+    /// <summary>
+    /// Family instance that does nothing. Safe for use in static initializers.
+    /// </summary>
+    public static Family<TMetricType> Null()
+    {
+        return new NullFamily<TMetricType>();
+    }
+
+    /// <summary>
+    /// Adds a metric instance with the specified labels.
+    /// </summary>
+    public abstract TMetricType Add(Dictionary<string, string> labels);
+}
+
+/// <summary>
+/// Null implementation of family that does nothing.
+/// </summary>
+internal class NullFamily<TMetricType> : Family<TMetricType> where TMetricType : class
+{
+    public override TMetricType Add(Dictionary<string, string> labels)
+    {
+        // Return null metric instance
+        if (typeof(TMetricType) == typeof(Counter))
+            return (TMetricType)(object)Counter.Null();
+        if (typeof(TMetricType) == typeof(Gauge))
+            return (TMetricType)(object)Gauge.Null();
+        if (typeof(TMetricType) == typeof(Histogram))
+            return (TMetricType)(object)Histogram.Null();
+        return null!;
+    }
+}
+
+/// <summary>
+/// Factory for creating metric families.
+/// </summary>
+public abstract class FamilyFactory
+{
+    /// <summary>
+    /// Creates a new counter family.
+    /// </summary>
+    public abstract Family<Counter> NewCounterFamily(string name, string description);
+
+    /// <summary>
+    /// Creates a new gauge family.
+    /// </summary>
+    public abstract Family<Gauge> NewGaugeFamily(string name, string description);
+
+    /// <summary>
+    /// Creates a new histogram family.
+    /// </summary>
+    public abstract Family<Histogram> NewHistogramFamily(
+        string name,
+        string description,
+        Histogram.BucketBoundaries boundaries);
+}

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Metrics/Gauge.cs

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+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+namespace CartographerSharp.Metrics;
+
+/// <summary>
+/// Gauge metric for tracking values that can go up and down.
+/// </summary>
+public abstract class Gauge
+{
+    /// <summary>
+    /// Gauge instance that does nothing. Safe for use in static initializers.
+    /// </summary>
+    public static Gauge Null()
+    {
+        return new NullGauge();
+    }
+
+    /// <summary>
+    /// Increments the gauge by 1.
+    /// </summary>
+    public abstract void Increment();
+
+    /// <summary>
+    /// Increments the gauge by the specified value.
+    /// </summary>
+    public abstract void Increment(double byValue);
+
+    /// <summary>
+    /// Decrements the gauge by 1.
+    /// </summary>
+    public abstract void Decrement();
+
+    /// <summary>
+    /// Decrements the gauge by the specified value.
+    /// </summary>
+    public abstract void Decrement(double byValue);
+
+    /// <summary>
+    /// Sets the gauge to the specified value.
+    /// </summary>
+    public abstract void Set(double value);
+}
+
+/// <summary>
+/// Null implementation of gauge that does nothing.
+/// </summary>
+internal class NullGauge : Gauge
+{
+    public override void Increment()
+    {
+        // Do nothing
+    }
+
+    public override void Increment(double byValue)
+    {
+        // Do nothing
+    }
+
+    public override void Decrement()
+    {
+        // Do nothing
+    }
+
+    public override void Decrement(double byValue)
+    {
+        // Do nothing
+    }
+
+    public override void Set(double value)
+    {
+        // Do nothing
+    }
+}

srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Metrics/Histogram.cs

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+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+namespace CartographerSharp.Metrics;
+
+/// <summary>
+/// Histogram metric for tracking value distributions.
+/// </summary>
+public abstract class Histogram
+{
+    /// <summary>
+    /// Bucket boundaries for histogram.
+    /// </summary>
+    public class BucketBoundaries : List<double>
+    {
+        public BucketBoundaries() : base() { }
+        public BucketBoundaries(IEnumerable<double> collection) : base(collection) { }
+    }
+
+    /// <summary>
+    /// Histogram instance that does nothing. Safe for use in static initializers.
+    /// </summary>
+    public static Histogram Null()
+    {
+        return new NullHistogram();
+    }
+
+    /// <summary>
+    /// Creates fixed-width bucket boundaries.
+    /// </summary>
+    public static BucketBoundaries FixedWidth(double width, int numFiniteBuckets)
+    {
+        var result = new BucketBoundaries();
+        double boundary = 0;
+        for (int i = 0; i < numFiniteBuckets; i++)
+        {
+            boundary += width;
+            result.Add(boundary);
+        }
+        return result;
+    }
+
+    /// <summary>
+    /// Creates scaled powers-of bucket boundaries.
+    /// </summary>
+    public static BucketBoundaries ScaledPowersOf(double baseValue, double scaleFactor, double maxValue)
+    {
+        if (baseValue <= 1)
+            throw new ArgumentException("Base must be greater than 1", nameof(baseValue));
+        if (scaleFactor <= 0)
+            throw new ArgumentException("Scale factor must be greater than 0", nameof(scaleFactor));
+
+        var result = new BucketBoundaries();
+        double boundary = scaleFactor;
+        while (boundary < maxValue)
+        {
+            result.Add(boundary);
+            boundary *= baseValue;
+        }
+        return result;
+    }
+
+    /// <summary>
+    /// Observes a value in the histogram.
+    /// </summary>
+    public abstract void Observe(double value);
+}
+
+/// <summary>
+/// Null implementation of histogram that does nothing.
+/// </summary>
+internal class NullHistogram : Histogram
+{
+    public override void Observe(double value)
+    {
+        // Do nothing
+    }
+}