With the following method a signal can be monitored while the application is running.

But this method should be used with caution, because it ca degrade the real time performance of the system. For this reason only one or two signals can be monitored at a time, if the real time performance is needed.

To keep the real time performance on an acceptable level, std:cout and std:endl should only be used once!

Following example contains a timing measurement and monitoring of one signal.

In ControlSystem.cpp after creating task and before adding it to the executor:

...
 
eeros::task::Periodic td("control system",dt, timedomain);
 
td.monitors.push_back([&](eeros::PeriodicCounter &c, Logger<LogWriter> &log) {
	static int ticks = 0;			// mseconds	
 
	if (++ticks < 1000) return;		
	ticks = 0;
 
	eeros::PeriodicCounter counter = c;
	c.reset();
	std:cout 	<< "CS: period max: " << setw(7)  << counter.period.max*1000
			<< "   ActPos Robot: " << dirKin.getOut().getSignal().getValue()	// vector with 2 elements
			<< std::endl;
});
 
eeros::Executor::instance().add(td);
 
...